STEFAN HANS, BMW MOTORRAD FROM AUTOMATIZATION TO … · 2018-10-24 · october 1st 2018 12th international motorcycle conference why automatization is the future of motorcycle safety

October 1st 2018

12th International Motorcycle Conference

WHY AUTOMATIZATION IS THE FUTUREOF MOTORCYCLE SAFETY.

FROM AUTOMATIZATION TO ASSISTANCE –INTERVENE BEFORE A CRITICAL SITUATION.

STEFAN HANS, BMW MOTORRAD

MARKUS KÖBE, TECHNISCHE UNIVERSITÄT DRESDEN

MOTIVATION – WHY IS MOTORCYCLE SAFETY SO IMPORTANT?

Between 1990 and 2017…

… car-related fatalities

decreased by

77%

… motorcycle-related

fatalities decreased by

45%0

1000

2000

3000

4000

5000

6000

7000

8000

1990 1995 2000 2005 2010 2015

Roa

d Tr

affic

Fat

alit

ies

Year

car occupants

motorcyclists

Figure 1: Car occupants and motorcycle rider fatalities in Germany from 1990 to 2017. (Source: DESTATIS)

Why automatization is the future of motorcycle safety! | Stefan Hans, BMW Motorrad | 12th International Motorcycle Conference Slide 2

DEVELOPMENT OF DRIVER-/RIDER-ASSISTANT-SYSTEMS.C

om

ple

xity

1970 1980 1990 2000 2010

environment perception

active

reactive

proactive

2020

*) research topic

1978 Anti-Lock Braking System

1995 Dynamic Stability Control

2000 Adaptive Cruise Control

1988 Anti-Lock Braking System

1987 Dynamic Traction Control

2015 Traffic Jam Assistant

1997 Cornering Brake Control

2006 Automatic Stability Control

2009 Dynamic Traction Control

2007 Emergency Brake Assist

2014 ABS Pro

passenger car

motorcycle

2015 Side-View-Assist

2021 Fully Autonomous Driving*


PROJECT OVERVIEW.

TrackMoto

Human command signals

Engine torque Brake pressure Steering angle

Measurements on the test track

– Prototype equipped with sensors and actuator

– Measurements of test rides

Theory

– Motorcycle dynamics model

– Simulation results

Validation

Fully-automated test ride(without rider)

Human Machine Interface

– Need and acceptance of assistance

– Kinesthetic feedback

– Intuitive systems

Rider

Increasing motorcycle safety by active interventions in the vehicle dynamics!


COMPONENTS OF THE PROTOTYPE.

Electronic control unit

GPS + IMU

Steering torque sensors

Display

Steering actuator

Training wheels

Active side standAutomated clutch

Roll angle sensor

Automated gearbox

Slide 5Why automatization is the future of motorcycle safety! | Stefan Hans, BMW Motorrad | 12th International Motorcycle Conference

CASCADED MULTILEVEL APPROACH.

• What‘s the best route from A to B?

• Controller: Dynamic programmingNavigation

• What‘s the best trajectory around the obstacle?

• Controller: Model-Predictive ControlGuidance

• What steering angle do we need to stabilizethe roll dynamics?

• Controller: Sliding-Mode ControlStabilization


MODEL-PREDICTIVE-CONTROL.

Predicting the future trajectory by minimizing:

Distance to the centerline

Roll angle & roll rate

Longitudinal jerk

…

k k+1 k+2 k+3 k+N

past future reference

prediction

command signal

receding horizon

Human-like behavior

(i.e. cutting curves)


SIMPLIFIED DYNAMIC MODEL OF THE MOTORCYCLE.

Trade-off: accuracy computational cost

Assumptions:

Point-mass

Tire width neglected

Wheels roll without slip


GUIDANCE LEVEL: WHAT‘S THE BEST TRAJECTORY AROUND THE OBSTACLE?

?

System with knowledge

about the motorcycle

dynamics

Decide whether a situation

will become dangerous

or not


RESULTS.


Slide 1212th International Motorcycle Conference Intervene before a critical situation – Markus Köbe

Motivation

“As dispensable as 40 degrees fever.”„So entbehrlich wie 40 Grad Fieber.“

"But there is no more fun driving a Töff. I prefer to stay THE BOSS of my bike myself."„Da bleibt aber kein Spaß mehr drauf, ein Töff zu fahren. Ich bleibe lieber selbst DER BOSS meines Bikes.“

"Bullshit. Keep your fingers off the motorcycles. (...) I do not want a system that puts me in an inclined position on the brakes because it scared itself."„Schwachsinn. Lasst die Finger von den Motorrädern. (…) Ich will kein System, dass mir in der Schräglage in die Bremse greift, weil es sich erschrocken hat.“

"Things that do not need the world.That's a variant of it."

„Dinge, die die Welt nicht braucht. Das ist eine Variante davon.“

"If these things come, I give my driver's license off voluntarily.“„Wenn die Dinger kommen, geb‘ ich meinen Schein freiwillig ab.“


Research Question

? ?


Traffic Accidents of Powered-Two Wheelers

1.


Accident Research

Scenarios

24 %

Loss of ControlTurning Off

19 % 25 %

Turning InCrossing

19 %

LongtidudinalTraffic


Accident Research

Loss of Control

Speed 114 kph

Radius 78 m

Needed Angle 53°


Accident Research

Loss of Control

Emergency Braking withABS-Intervention

Putting up of Motorcycle

Speed 114 kph

Radius 78 m

Needed Angle 53°


Accident Research

Loss of Control



Identification of Assistance Functions

2.


Motorcycle Rider

Rider Types


NAVIGATION

GUIDANCE

STABILIZATION

Gas

Ste

er

Brake

Tertiary:Setting

Ambience

Rid

er T

asks

Secondary:Setting Operation

Points

DangerNormal Driving

Scenarios

Warning

Switching Gears, domes, operating the turn signal, switching lights

Radio settings, temperature control, telephony, infotainment

Primary:Vehicle Guidance


Tertiary:Setting

Ambience

Rid

er T

asks

Secondary:Setting Operation

Points


Scenarios

Warning

Primary:Vehicle Guidance

AssistanceFunctions



Critical Situation

Warning

PlanningSpeed

Stabilization

Curvature for speed too high

Steering torque to the ideal line or for greater curvature

Driving on Curves

Steering torque to the ideal line

PlanningCurvature

Speed for curvature too high

Reduction of drive torque / braking intervention on the rear wheel for cornering yaw moment

Driving on Curves

Limiting the speed

Curve Braking

Compensation of the steering torque

Driving /w cruise control

Limiting the speed

Prim

ary R

ider T

ask


Implementation of Assistance Systems

3.


Vehicle Dynamics Model

Roll Angle Speed Controller

Model Predictive Controller

Getz, N. H.: Dynamic inversion of nonlinear maps with applications to nonlinear control and robotics. Ph. D. thesis, University of California at Berkeley, 1995Hans, S., Krehel, M., Köbe, M., Prokop, G.: A Cascaded Model-Predictive Approach To Motorcycle Safety, AVEC, Munich, 2016

Observer



Steering torque to the ideal line or for greater curvature

DGPS,Road Data

Handlebar Motor

6-DOF-Sensor,Speed,Handlebar Angle

Projection on trackcoordinates

Kinematic controller(Lyponov stability)

Tracking

PID-Controller

target curvature /target roll angle

Rolling angle difference tohandlebar angle

Steering Torque



StabilityControl

ttPONR

Point ofno return

tcritical (III)

CooperativeIntelligentTransport Systems

tcritical (I)

!InterventingARAS

tcritical (II)

I

II

III


Thank you very much!

Please feel free to ask questions.

Dipl.-Ing. Markus Köbe

Tel.: +49 (0) 351/463-43105

Email: [email protected]

Technische Universität Dresden

Lehrstuhl Kraftfahrzeugtechnik

George-Bähr-Straße 1c

01069 Dresden

Dipl.-Ing. Stefan Hans

Tel.: +49 -89-382-12575

Email: [email protected]

BMW Motorrad

Motorradsicherheit

Hufelandstraße 20

80939 München

Documents

STEFAN HANS, BMW MOTORRAD FROM AUTOMATIZATION TO … · 2018-10-24 · october 1st 2018 12th international motorcycle conference why automatization is the future of motorcycle safety