The digital twin, with its descriptive and predictive services provides promising prospects in the automotive field. Increased insights in customer behavior and vehicle states through descriptive ...models enable the predictive services of the digital twin to project these vehicles in the future. Currently, most of the predictive services of the digital twin focus on a singular dimension, the asset itself, without considering the influences of the environment and the driver, which hampers the reliability and accuracy of these models. The present work aims to provide a solution in the form of a holistic digital twin comprising of three descriptive models representing the motorcycle itself, its operating environment, and the motorcycle riding behavior. Based on data gathered during a large-scale measurement campaign, novel insights in the motorcycle riding behavior have enabled its representation into two mathematical formulations. Highlighting the capability of the digital twin to integrate data from heterogeneous sources, the environmental model is generated using geospatial data from a map provider, followed by a novel formulation of a safety driving line. Using a kinematic motorcycle model, the speed and banking angle over the defined route are predicted with high correlation to real-world motorcycle riding behavior. The insights generated by the developed digital twin can be used to enable data-driven development or as an input to provide individualized predictive services during the usage phase.
•Generation of insights into real-world naturalistic motorcycle riding behavior.•Development of an environmental model using road-related topology data.•Three-dimensional digital twin of a real-world motorcycle fleet.•Validation of digital twin prediction with real-world measurements.
Given the high incidence of traffic accidents and fatalities on two-wheeled vehicles, there is a growing need for safety management. However, studies on evaluating two-wheeled vehicle driving in a ...quantitative and comprehensive form are insufficient. In this study, 11 items were defined for the first step to evaluate two-wheeled vehicle driving: signal violation, central line violation, helmet violation, pedestrian close driving, sidewalk driving, reverse lane driving, speed violation, rapid acceleration, rapid deceleration, rapid turn, and rapid lane change. The items were classified into three categories (traffic violation, pedestrian threat, and reckless driving), and their weights were derived using the AHP technique. For rapid acceleration, rapid deceleration, rapid turn, and rapid lane change, a high-performance driving simulator was used to establish risk criteria and calculate the weight based on the degree of risk. The calculated weight of each item indicates its importance in evaluating two-wheeled vehicle driving, with helmet violation (0.158), speed violation (0.124), and pedestrian close driving (0.122) having the highest weights. Finally, the dangerous driving index for two-wheeled vehicles was calculated by the weights of each evaluation item and applied to the driving trajectory data.
•Experimental validation of a road roughness classification system.•Continuous classification of the driven road classes according to ISO 8608.•Onboard signals of two-wheeled vehicles are feasible ...for identifying customer usage profiles.•Development of an impact detection strategy using a machine learning approach.•Robust identification of service loads, mild special events, and severe special events.
First, this publication presents the experimental validation of a road roughness classification method. Second, an impact detection strategy for two-wheeled vehicles is proposed including a classification of service loads, mild special events, and severe special events. The methods presented utilise the vehicle’s onboard signals to gather field data. The modular road roughness classification system operates with the vehicle’s transfer functions, and continuously classifies the road profile, according to ISO 8608. The method was successfully validated on test tracks with known road profiles. The impact detection strategy was developed using a supervised machine learning technique. Six road obstacles were ridden over using different velocities to invoke mild and severe special events. The most popular classifiers were trained for comparison and prediction of future observations. The developed impact detection strategy shows a high accuracy and was successfully validated using a k-fold cross-validation. The combination of the road roughness classification system and the impact detection strategy, enables a holistic field data acquisition of customer usage profiles, in the context of durability engineering. The collection of customer usage profiles improves vehicle design targets and enables a virtual load acquisition.
Balancing a two-wheeled scooter is considered a challenging task for robots, as it is a non-linear control problem in a highly dynamic environment. The rapid pace of development of deep reinforcement ...learning has enabled robots to perform complex control tasks. In this paper, a deep reinforcement learning algorithm is proposed to learn the steering control of the scooter for balancing and patch tracking using an unmodified humanoid robot. Two control strategies are developed, analyzed, and compared: a classical Proportional–Integral–Derivative (PID) controller and a Deep Reinforcement Learning (DRL) controller based on Proximal Policy Optimization (PPO) algorithm. The ability of the robot to balance the scooter using both approaches is extensively evaluated. Challenging control scenarios are tested at low scooter speeds, including 2.5, 5, and 10 km/h. Steering velocities are also varied, including 10, 20, and 40 rad/s. The evaluations include upright balance without disturbances, upright balance under disturbances, tracking sinusoidal path, and path tracking. A 3D model of the humanoid robot and scooter system is developed, which is simulated in a state-of-the-art GPU-based simulation environment as a training and test bed (NVidia’s Isaac Gym). Despite the fact that the PID controller successfully balances the robot, better final results are achieved with the proposed DRL. The results indicate a 52% improvement on average in different speeds with better performance in path tracking control. Controller command evaluation on the real robot and scooter indicates the robot’s complete capability to realize steering control velocities.
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•Balancing a scooter with a general-purpose humanoid robot.•Balancing and path tracking through a proximal policy optimization algorithm.•Modeling of robot and scooter system for state-of-the-art simulations.•Extensive evaluation along with external disturbances for balance controller.
Entering 2020, the corona virus outbreak is spreading very quickly throughout the world, including Indonesia. This encourages the Indonesian government to make efforts and take handling policies to ...suppress the global spread of the corona virus or Covid-19. These policies did reduce the number of spreads but created new problems, such as increasing criminal acts and coupled with assimilation rights policies (freeing prisoners) during the Covid-19 pandemic which also resulted in an increase in crime rates, such as theft with weighting, motor vehicle theft, theft accompanied by violence, mugging, to beheading. One of the reasons for the increase in theft cases is the use of the situation when everyone is focused on handling Covid-19 and also the existence of security gaps. The security gap can be minimized, one of which is by developing technological innovation, therefore the author proposes a prototype for the development of a dual security system on two-wheeled vehicles with the latest technology. The results of the study, the system can provide notification information through the WhatsApp Messenger application in real time, as well as vehicle owners can control the vehicle remotely using the android application.
The majority of countries in the world are experiencing the growing number of two-wheeled motor vehicles (motorcycles, L3 category vehicles etc.). In view of this, the number of victims and badly ...wounded persons is considerably increasing. Most part of road accidents is the result of certain circumstances which are forming the whole complex of causes and consequences. Determination of actual cause and contributary circumstances which occurred during the road accident is considered to be one of most important tasks regarding road traffic safety. Shortcomings commonly found in traditional methodology of calculating the motorcycle’s "while braking" speed which was developed in 1960-s and is still being used in Russian Federation lie in the fact that motorcycle speed is calculated with reference to skid marks; as a result, calculated speed often becomes "under-estimated". Experience has shown that at the moment of brakes application actual speed of motorcycles is higher than estimated because experts are using the predeterminedly under-estimated, averaged values (i) of steady state deceleration and (ii) of steady state deceleration build-up time. Contact-trace coupling of volume-penetrating nature, i.e. collision (mostly of frontal-cross nature), is causing motorcycle wheel fork deformation which results in wheel-base change. This is accompanied by kinetic energy expenditure for motorcycle deformation (including opposite vehicle deformation) which factor is commonly neglected during collision speed calculation. Most part of kinetic energy contained in the vehicle prior to collision with the barrier is transformed into plastic strain energy while the minority thereof, due to rebound strain, is again transformed into kinetic energy whose reserve is causing the vehicle to be repelled from the barrier. Authors have analyzed experiments during which motorcycles were colliding with non-deformable barriers and scrutinized the problems which were occurring while calculating the speed of two-wheeled motor vehicles during road accident.
Shortening product lifecycles and increasing customer demands are forcing manufacturers to increase the efficiency and effectiveness of their product development process to stay competitive in an ...increasingly global setting. The effectiveness of current day product development is hampered by the availability of real-world data that allows the deduction of comprehensive customer requirements. Key to solving this is a tight connection between the manufacturer and the vehicle in-use. Founded by technological advances put forward by Industry 4.0, the digital twin provides the tools needed to strengthen this connection. Driven by the difficulties automotive manufacturers face in generating insights in customer usage of the vehicle, the present work develops a general digital twin framework for the automotive industry, characterizing the digital twin as a holistic representation of a physical vehicle with the appropriate fidelity throughout its lifecycle. Further highlighting that this holistic portrayal requires models which depict the human interaction with the vehicle. To illustrate this, a digital twin model capable of capturing human interaction with automotive products, more specifically motorcycles, is presented. Data generated by this digital twin model provides a data-based foundation for the development of customer requirements, increasing the effectiveness of next-generation vehicle development.
In this paper, a literature review on two-wheeled vehicle systems is methodically performed and presented. For this purpose, the principal aspects concerning the kinematic, dynamic, control, and ...identification features of articulated mechanical systems described within the multibody formulation approach are emphasized in this review article. First, the scientific investigations on two-wheeled vehicle modelling are chronologically described employing a historical literature review approach. This is done to set a consistent context for the subsequent developments analyzed in the paper. Then, following the systematic literature review methodology described in this work, a rich corpus of relevant documents in the time span between 2013-present. Moreover, bibliometric methods are used to construct the conceptual structure map of the research field, which also allowed for formulating a thematic classification. Thus, considering the full-texts of the identified corpus of documents, this work presents a synthetic analysis of the fundamental issues about the multibody approaches for modelling two-wheeled vehicles. Finally, future research perspectives are pointed out in this article
The subject of the article was the chemical analysis of gasoline and exhaust gas samples taken from an urban two-wheeled vehicle. The main aim of the work was to identify chemical compounds emitted ...by a group of urban two-wheeled vehicles depending on the engine’s operating parameters. First, engine operating parameters and driving parameters of three urban two-wheeled vehicles were measured in real operating conditions. Based on the averaged results, engine operating points were determined for exhaust gas samples that were collected into Tedlar bags. The exhaust gas composition of individual chemical substances obtained in the chromatographic separation process were subjected to a detailed analysis relating the engine operating point with their emission rate, with each individual component being assessed in terms of its impact on human health. The obtained qualitative analysis results indicated the presence of alkenes, alkanes, aliphatic aldehydes, and aromatic and cyclic hydrocarbons (cycloalkanes) in the tested samples. The experiments provided a variety of conclusions relating to the operating parameters of a two-wheeler engine. Qualitative assessment of exhaust samples showed that a two-wheeled vehicle was characterized by the most varying composition of BTX aromatic hydrocarbons derivatives, which are particularly dangerous to human health and life. Therefore, the authors suggest that in the future, approval procedures regarding toxic emissions should be extended to include chromatographic tests. The presented results are an extension of previous studies on toxic emissions from urban two-wheeled vehicles in real operating conditions that were published in other journals.
In this paper, a nonlinear observer is designed in order to estimate the lateral dynamics of motorcycles. A nonlinear model of motorcycle's lateral dynamics is considered and is transformed in a ...Takagi-Sugeno (TS) exact form. An unknown input (UI) nonlinear observer is then designed in order to reconstruct the state variables whatever the forward velocity variations. The observer convergence study is based on the Lyapunov theory. The boundedness of the state estimation error is guaranteed thanks to the Input to State Stability (ISS) property. The observer has been tested on a nonlinear multibody model.
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