Method for developing drive, control and / or regulation concepts of a vehicle using a vehicle model

Abstract

The invention relates to a method for developing drive, control, and / or regulation concepts for a vehicle using a vehicle model. In a method with which the development results can be tested under real conditions while simultaneously reducing development costs, a real vehicle model is scaled down to a true-to-scale size compared to the full-size vehicle to be developed. The dynamics of the full-size vehicle are mathematically determined, and the dynamics, rendered dimensionless using a similarity theory, are applied to the true-to-scale real vehicle model. The drive, control, and / or regulation concept is generated based on the dimensionless dynamics and tested on the scaled-down vehicle model. After a successful test, the concept is transferred to the full-size vehicle without adjustment.

Description

[0001] The invention relates to a method for developing drive, control and / or regulation concepts of a vehicle using a vehicle model.

[0002] Implementing and testing drive concepts for vehicles, as well as control and regulation concepts for vehicles, requires a significant amount of time and money to achieve the desired level of maturity. This also includes extensive test drives.

[0003] US 2004 / 0107082 A1 discloses a method for vehicle development in which master data of the vehicle is created and a computer-generated virtual vehicle model is defined to represent at least part of a production design specification of a test vehicle. A computer simulation is performed using a real-time simulator. A conformity assessment of the test module is based on the simulation result and the master data. This eliminates the need for testing on real vehicles.

[0004] The object of the invention is to provide a method for developing drive, control and / or regulation concepts of a vehicle using a vehicle model, with which the development results can be tested under real conditions while simultaneously reducing development costs.

[0005] The invention is based on the features of the independent claims. Advantageous developments and refinements are the subject of the dependent claims. Further features, possible applications, and advantages of the invention will become apparent from the following description and the explanation of exemplary embodiments of the invention.

[0006] The problem is solved by the subject matter of patent claim 1.

[0007] In the method explained at the beginning for developing drive, control and / or regulation concepts of a vehicle using a vehicle model, the real vehicle model is scaled down compared to the real-size vehicle to be developed, whereby the dynamics of the real-size vehicle are determined mathematically and the dynamics made dimensionless by means of a similarity theory are applied to the true-scale real vehicle model, whereby the drive, control and / or regulation concept is generated based on the dimensionless dynamics and tested on the true-scale reduced vehicle model and, after a positive test, is transferred to the real-size vehicle without adaptation.In addition to reducing the costs of developing drive, control, and regulation concepts for vehicles, the use of a real vehicle model, also known as a scaled vehicle, is significantly safer, as it poses a significantly lower risk during test drives if one of the concepts fails during the test drive. The resulting follow-up costs are minimized. Concept changes, such as a change in the drive architecture, can be implemented more easily and quickly on the scaled vehicle.

[0008] In one embodiment, the dynamics of the real-size vehicle are created using a mathematical two-track model with more accurate tire and steering dynamics. This enables a more accurate representation of the dynamics of the real-size vehicle.

[0009] In a further refinement, a Buckingham Pi theorem is used as a similarity theory to create dimensionless dynamics. The Buckingham Pi theorem allows dimensionless parameters and variables to be converted into dimensionless ones. The dimensionless dynamics can thus be projected onto the real vehicle model at the correct scale, so that the model's dynamic behavior is similar to that of the full-scale vehicle.

[0010] In a further embodiment, a robust controller is generated based on the dimensionless dynamics of the full-scale vehicle with deviations in the parameters of the dimensionless dynamics, which is then tested on the real vehicle model. Thus, a controller for a full-scale vehicle is tested using similarity theory in a smaller, scaled vehicle under dynamically similar conditions. This allows the actual development work on the controller to be performed on the scaled and cost-effective vehicle. This positively tested controller can then be transferred to the full-scale vehicle without any adjustments.

[0011] Further advantages, features, and details will become apparent from the following description, in which at least one exemplary embodiment is described in detail—possibly with reference to the drawings. Described and / or illustrated features may form the subject matter of the invention alone or in any meaningful combination, possibly independently of the claims, and may, in particular, also be the subject matter of one or more separate applications.

[0012] An exemplary embodiment of the method according to the invention will be explained in more detail below. To develop drive, control, and / or regulation concepts for a vehicle, a scaled model of the vehicle is created. The scaled model is understood to be a smaller, real vehicle, which is, for example, reduced in size by 1:5 compared to the full-size vehicle. To approximate the dynamics of the scaled vehicle to those of the full-size vehicle, the dynamics of the full-size vehicle are created in a first step using a mathematical two-track model with more precise tire and steering dynamics, which enables a significantly more accurate representation of the dynamics of the full-size vehicle.

[0013] In a second step, the resulting dynamics of the real-size vehicle are rendered dimensionless using the Buckingham Pi Theorem, which originates from similarity theory, and projected onto the scaled vehicle. The Buckingham Pi Theorem allows dimensionless parameters and variables to be transformed into dimensionless ones, thus yielding dimensionless equations. Using robust control, which in computer science refers to the use of control engineering tools to enable a system to function stably and appropriately despite uncertainties and deviations, a controller can now be generated based on the dimensionless dynamics of the real-size vehicle with deviations in the dimensionless parameters and tested on the scaled vehicle.Thus, a controller for a real-size vehicle can be tested in a smaller scaled vehicle under dynamically similar conditions using similarity theory, whereby the actual development work on the controller is performed with the scaled and more cost-effective real vehicle. QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] US 2004 / 0107082 A1

[0003]

Claims

[1] Method for developing drive, control and / or regulation concepts of a vehicle using a vehicle model, characterized by that a real vehicle model is scaled down compared to the real-size vehicle to be developed and the dynamics of the real-size vehicle are determined mathematically and the dynamics made dimensionless by means of a similarity theory are applied to the true-scale real vehicle model, whereby the drive, control and / or regulation concept is generated on the basis of the dimensionless dynamics and tested on the true-scale real vehicle model and, after a positive test, is transferred to the real-size vehicle without adaptation. [2] Method according to claim 1 characterized by that the dynamics of the real-size vehicle are created using a mathematical two-track model with more accurate tire and steering dynamics. [3] Method according to claim 1 or 2, characterized bythat a Buckingham-Pi theorem is used as a similarity theory to create the dimensionless dynamics. [4] Method according to claim 1, 2 or 3, characterized by that a controller is generated using a robust control system based on the dimensionless dynamics of the real-size vehicle with deviations in the parameters of the dimensionless dynamics, which controller is tested on the real vehicle model and, after a successful test, is transferred to the real-size vehicle without further adaptation.