Vehicle Performance Analysis Of An Autonomous Electric


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VEHICLE PERFORMANCE ANALYSIS OF AN AUTONOMOUS ELECTRIC SHUTTLE MODIFIED FOR
WHEELCHAIR ACCESSIBILITY

by, Johan Fanas Rojas

Committee : Dr. Zachary Asher Dr. Mitchel Keil Dr. Kapseong Ro

Western Michigan University

1

Agenda
Introduction

Methodology

• Introduction • Accessibility • Autonomous vehicles and accessibility • Vehicle dynamics and accessibility • Novel contributions
• Methodology • WMU project overview • Ride comfort study • Lateral dynamics • Energy consumption analysis

Results

Conclusion

• Results • Passive suspension analysis • Active suspension analysis • ADAMS/MATLAB Co-simulation • Lateral dynamics • Energy consumption analysis • Cost analysis
• Conclusion • Summary • Conclusion • Future Work

MS Eng. Johan Fanas Rojas

2

Acknowledgment
Introduction

Methodology

Results

University Faculty • Dr. Zachary Asher • Dr. Mitchel Keil • Dr. Kapseong Ro • Dr. Clive D’Souza

Graduate Students • Nick Goberville • Nicholas Brown • Amol Patil • Yogesh Jagdale • Farhang Motallebiaraghi • Tushar Gaikward • Parth Kadav • Marsad Zoardar • Kamolnat Tabattanon • Nicholas Sandhu

Conclusion

MS Eng. Johan Fanas Rojas

3

Introduction

Methodology

Results

Conclusion

What is the relationship between accessibility, autonomous vehicles
and vehicle dynamics ?

MS Eng. Johan Fanas Rojas

4

Venn diagram assessment

Introduction

Methodology

Results

Accessibility

Conclusion

Autonomous vehicles

Vehicle dynamics

MS Eng. Johan Fanas Rojas

5

Autonomous vehicles

Introduction

Methodology

Results

o A self-driving car, also known as an autonomous vehicle (AV), is a vehicle that is capable of sensing its environment and moving safely with little or no human input
o The development and mass production of self-driving cars, has the potential to revolutionize transportation mobility and safety
o Human error is involved in 94%-96% of car accidents

MS Eng. Johan Fanas Rojas

6

Conclusion
Accessibility

Autonomous vehicles

Vehicle dynamics

Vehicle dynamics
Introduction

Methodology

Results

o Vehicle dynamics is concerned with the movement of vehicles on a road surface. These movements are acceleration, braking, ride and handling
o Vehicle dynamics study the forces acting on the vehicle when the tires are submitted to a given input; for example: o Steer input o Vertical displacement o Angular velocity
[Guiggiani, Massimo.,The Science of Vehicle Dynamics (2014)]

MS Eng. Johan Fanas Rojas

7

Conclusion
Accessibility

Autonomous vehicles

Vehicle dynamics

Accessibility
Introduction

Methodology

Results

o Individuals with disabilities face barriers when it comes to public/private transportation due to the lack of good vehicle and facility design
o Users of wheeled mobility devices are particularly impacted by poor vehicle design
o The cost of retro-fitting a vehicle with special features is between $20,000-$80,000 on top of the purchase price of the vehicle
[Claypool H., Bin-Nun A., Gerlach J., Self -Driving Car: The Impact on People with Disabilities(2017)]

MS Eng. Johan Fanas Rojas

8

Conclusion
Accessibility

Autonomous vehicles

Vehicle dynamics

Autonomous vehicles and accessibility

Introduction

Methodology

Results

o Autonomous vehicles (AVs) have the potential to increase independent and safe mobility options for many transportation-disadvantaged groups, including older adults and people with disabilities
o Design of AVs may require a higher standard of accessibility to ensure that passengers with disabilities can independently use these vehicles without driver assistance.

[Harper, Corey D., Chris T. Hendrickson, Sonia Mangones, and Constantine Samaras., Estimating Potential Increases in Travel with Autonomous Vehicles for the Non-Driving, Elderly and People with Travel-Restrictive Medical Conditions (2016)]

MS Eng. Johan Fanas Rojas

9

Conclusion
Accessibility

Autonomous vehicles

Vehicle dynamics

Autonomous vehicles and vehicle dynamics

Introduction

Methodology

Results

o Research on autonomous vehicles has mainly focused on perception, planning, and control

o Control of the vehicle dynamics of an autonomous vehicle in the decision-making process is crucial because of uncertainties and safety risks

o Existing technologies: o ADAS (Advanced driver-assistance systems) o Lane keeping o Stability control o Path planning
[Hayafune K., Hiroaki Y., Control Method of Autonomous Vehicle Considering Compatibility of Riding Comfort and Vehicle Controllability(1990)]
[Falcone P., Borrelli F., Asgari J., Tseng H.E., Hrovat D., Predictive Active Steering Control for Autonomous Vehicle Systems(2007)]

MS Eng. Johan Fanas Rojas

10

Conclusion
Accessibility

Autonomous vehicles

Vehicle dynamics

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Vehicle Performance Analysis Of An Autonomous Electric