WHY AUTOMATIZATION IS THE FUTURE OF MOTORCYCLE SAFETY. STEFAN HANS, BMW MOTORRAD FROM AUTOMATIZATION TO ASSISTANCE – INTERVENE BEFORE A CRITICAL SITUATION. MARKUS KÖBE, TECHNISCHE UNIVERSITÄT DRESDEN
October 1st 2018 12th International Motorcycle Conference MOTIVATION – WHY IS MOTORCYCLE SAFETY SO IMPORTANT?
Between 1990 and 2017… 8000 car occupants 7000 motorcyclists … car-related fatalities 6000 decreased by 5000 77% 4000 3000 2000 … motorcycle-related Fatalities Traffic Road fatalities decreased by 1000 0 45% 1990 1995 2000 2005 2010 2015 Year 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.
2021 Fully Autonomous Driving* proactive 2015 Traffic Jam Assistant passenger car
2007 Emergency Brake Assist environment perception 2000 Adaptive Cruise Control 2015 Side-View-Assist
active 1995 Dynamic Stability Control Complexity
reactive 1997 Cornering Brake Control 2014 ABS Pro 1987 Dynamic Traction Control 2009 Dynamic Traction Control 2006 Automatic Stability Control 1978 Anti-Lock Braking System motorcycle 1988 Anti-Lock Braking System
*) research topic
1970 1980 1990 2000 2010 2020
Why automatization is the future of motorcycle safety! | Stefan Hans, BMW Motorrad | 12th International Motorcycle Conference Slide 3 PROJECT OVERVIEW.
Increasing motorcycle safety by active interventions in the vehicle dynamics!
Fully-automated test ride (without rider) Rider Human Machine Interface TrackMoto – Need and acceptance of assistance – Kinesthetic feedback Human command signals – Intuitive systems Engine torque Brake pressure Steering angle Theory Measurements on the test track Validation – Motorcycle dynamics model – Prototype equipped with sensors and actuator – Simulation results – Measurements of test rides
Why automatization is the future of motorcycle safety! | Stefan Hans, BMW Motorrad | 12th International Motorcycle Conference Slide 4 COMPONENTS OF THE PROTOTYPE.
GPS + IMU Display
Training wheels Steering torque sensors
Steering actuator
Electronic control unit
Automated gearbox Roll angle sensor
Active side stand Automated clutch
Why automatization is the future of motorcycle safety! | Stefan Hans, BMW Motorrad | 12th International Motorcycle Conference Slide 5 CASCADED MULTILEVEL APPROACH.
• What‘s the best route from A to B? Navigation • Controller: Dynamic programming
• What‘s the best trajectory around the obstacle? Guidance • Controller: Model-Predictive Control
• What steering angle do we need to stabilize the roll dynamics? Stabilization • Controller: Sliding-Mode Control
Why automatization is the future of motorcycle safety! | Stefan Hans, BMW Motorrad | 12th International Motorcycle Conference Slide 6 MODEL-PREDICTIVE-CONTROL.
Predicting the future trajectory by minimizing: Distance to the centerline Human-like behavior Roll angle & roll rate (i.e. cutting curves) Longitudinal jerk … past future reference prediction
receding horizon
command signal
k k+1 k+2 k+3 k+N
Why automatization is the future of motorcycle safety! | Stefan Hans, BMW Motorrad | 12th International Motorcycle Conference Slide 7 SIMPLIFIED DYNAMIC MODEL OF THE MOTORCYCLE.
Trade-off: accuracy computational cost
Assumptions: Point-mass Tire width neglected Wheels roll without slip
Why automatization is the future of motorcycle safety! | Stefan Hans, BMW Motorrad | 12th International Motorcycle Conference Slide 8 GUIDANCE LEVEL: WHAT‘S THE BEST TRAJECTORY AROUND THE OBSTACLE?
Decide whether a situation will become dangerous System with knowledge or not about the motorcycle dynamics
?
Why automatization is the future of motorcycle safety! | Stefan Hans, BMW Motorrad | 12th International Motorcycle Conference Slide 9 RESULTS. Why automatization is the future of motorcycle safety! | Stefan Hans, BMW Motorrad | 12th International Motorcycle Conference Slide 11 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.“
"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.“ "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.“ 12th International Motorcycle Conference Intervene before a critical situation – Markus Köbe Slide 12 Research Question
? ?
12th International Motorcycle Conference Intervene before a critical situation – Markus Köbe Slide 13 1. Traffic Accidents of Powered-Two Wheelers
12th International Motorcycle Conference Intervene before a critical situation – Markus Köbe Slide 14 Accident Research Scenarios
Turning Off Turning In Longtidudinal Loss of Control Crossing Traffic
24 % 19 % 25 % 19 %
12th International Motorcycle Conference Intervene before a critical situation – Markus Köbe Slide 15 Accident Research Loss of Control
Speed 114 kph
Radius 78 m
Needed Angle 53°
12th International Motorcycle Conference Intervene before a critical situation – Markus Köbe Slide 16 Accident Research Loss of Control
Speed 114 kph
Radius 78 m
Needed Angle 53°
Emergency Braking with ABS-Intervention
Putting up of Motorcycle
12th International Motorcycle Conference Intervene before a critical situation – Markus Köbe Slide 17 Accident Research Loss of Control
12th International Motorcycle Conference Intervene before a critical situation – Markus Köbe Slide 18 12th International Motorcycle Conference Intervene before a critical situation – Markus Köbe Slide 19 2. Identification of Assistance Functions
12th International Motorcycle Conference Intervene before a critical situation – Markus Köbe Slide 20 Motorcycle Rider Rider Types
12th International Motorcycle Conference Intervene before a critical situation – Markus Köbe Slide 21 Scenarios
Normal Driving Warning Danger
NAVIGATION Primary: GUIDANCE
Vehicle Guidance
Gas Steer STABILIZATION Brake
Secondary: Switching Gears, domes, operating the turn Setting Operation signal, switching lights
Points Rider Tasks Rider Tertiary: Radio settings, temperature control, telephony, Setting infotainment Ambience
12th International Motorcycle Conference Intervene before a critical situation – Markus Köbe Slide 22 Scenarios
Normal Driving Warning Danger
Primary: Vehicle Guidance
Secondary: Assistance Setting Operation
Points Functions Rider Tasks Rider Tertiary: Setting Ambience
12th International Motorcycle Conference Intervene before a critical situation – Markus Köbe Slide 23 Critical Situation
Normal Driving Warning Danger
Driving on Curves Curvature for speed too high Planning Curvature Steering torque to Steering torque to the ideal line or for the ideal line greater curvature
Driving on Curves Speed for curvature too high Planning Reduction of drive torque / braking Speed Limiting the speed intervention on the rear wheel for cornering yaw moment
Primary Rider Task Rider Primary Driving /w cruise control Curve Braking Stabilization Limiting the speed Compensation of the steering torque 12th International Motorcycle Conference Intervene before a critical situation – Markus Köbe Slide 24 3. Implementation of Assistance Systems
12th International Motorcycle Conference Intervene before a critical situation – Markus Köbe Slide 25 Vehicle Dynamics Model
Observer
. 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, 1995 Hans, S., Krehel, M., Köbe, M., Prokop, G.: A Cascaded Model-Predictive Approach To Motorcycle Safety, AVEC, Munich, 2016 12th International Motorcycle Conference Intervene before a critical situation – Markus Köbe Slide 26 12th International Motorcycle Conference Intervene before a critical situation – Markus Köbe Slide 27 DGPS, Projection on track Steering torque to the ideal line Road Data coordinates or for greater curvature
Tracking
6-DOF-Sensor, Kinematic controller Speed, (Lyponov stability) Handlebar Angle
target curvature / target roll angle
Rolling angle difference to PID-Controller handlebar angle
Handlebar Motor Steering Torque
12th International Motorcycle Conference Intervene before a critical situation – Markus Köbe Slide 28 12th International Motorcycle Conference Intervene before a critical situation – Markus Köbe Slide 29 Cooperative I Intelligent Transport Systems Interventing ! II ARAS
Stability III Control
Point of no return
tcritical (I) tcritical (II) tcritical (III) tPONR t 12th International Motorcycle Conference Intervene before a critical situation – Markus Köbe Slide 30 Thank you very much! Please feel free to ask questions.
Dipl.-Ing. Stefan Hans Dipl.-Ing. Markus Köbe
Tel.: +49 -89-382-12575 Tel.: +49 (0) 351/463-43105 Email: stefan.hans@bmw.de Email: [email protected]
BMW Motorrad Technische Universität Dresden Motorradsicherheit Lehrstuhl Kraftfahrzeugtechnik Hufelandstraße 20 George-Bähr-Straße 1c 80939 München 01069 Dresden 12th International Motorcycle Conference Intervene before a critical situation – Markus Köbe Slide 31