BỘ GIÁO DỤC VÀ ĐÀO TẠO TRƯỜNG ĐẠI HỌC PHENIKAA ĐỒ ÁN TỐT NGHIỆP DEFINITION, EXCUTING AND EVALUATING OF VERIFICATION AND VALIDATION TESTS (VEHICLE DYNAMICS) FOR A VEHICLE IN AUDEx-PROJECT Sinh viên: Trần Đức Bình Mã số sinh viên: 20010093 Khóa: K14 Ngành: Kỹ thuật ô tô Hệ: Đại học chính quy Giảng viên hướng dẫn: Prof. Dirk Engel PGS. Trần Quang Vinh Hà Nội - 2025 LỜI CẢM ƠN Kính gửi: Khoa Kỹ thuật Ô tô và Năng lượng. Chủ đề: Definition, Excuting and Evaluating of verification and validation tests (vehicle dynamics) for a vehicle in AUDEx-Project.
Em xin báo cáo tóm tắt đồ án tốt nghiệp: " Definition, Excuting and Evaluating of verification and validation tests (vehicle dynamics) for a vehicle in AUDEx-Project ". Đồ án tập trung vào việc xác định, thực hiện và đánh giá một khuôn khổ V&V toàn diện cho động lực học của xe trong dự án AUDEx. Các kết quả nhằm mục đích nâng cao các quy trình thử nghiệm của dự án AUDEx và đóng góp vào lĩnh vực rộng hơn của kỹ thuật ô tô. Nội dung báo cáo: Báo cáo bao gồm các phần sau: • Chapter 1.
Literature Review; • Chapter 3. Project Framework; • Chapter 4. Testing and Evaluation; • Chapter 6. Recommendations; Em tin rằng báo cáo này sẽ đóng góp vào lĩnh vực rộng hơn của kỹ thuật ô tô bằng cách chứng minh tính khả thi của việc tích hợp các công nghệ giá cả phải chăng vào các quy trình V&V nghiêm ngặt.
Trân trọng Sinh viên thực hiện Trần Đức Bình ii Error! Use the Home tab to apply Anhangüberschrift to the text that you want to appear here. Duc Binh Tran Definition, Excuting and Evaluating of verification and validation tests (vehicle dynamics) for a vehicle in AUDEx-Project Bachelorbeit eingereicht im Rahmen der Bachelorprüfung im Studiengang 2024-2025 am Department Fahrzeugtechnik und Flugzeugbau der Fakultät Technik und Informatik der Hochschule für Angewandte Wissenschaften Hamburg Erstprüfer/in: Prof. Dirk Engel Zweitprüfer/in : Prof. Quang Vinh Tran Abgabedatum: 20/02/2025 iii Zusammenfassung Duc Binh Tran Thema der Bachelorthesis Definition, Durchführung und Auswertung von Verifikations- und Validierungstests (Fahrzeugdynamik) für ein Fahrzeug im AUDEx-Projekt.
Stichworte Fahrzeugdynamik, Validierung und Verifizierung, Sensordatenerfassung, Echtzeit Datenprotokollierung, Virtuelle Simulationen, RC-Car-Tests. Kurzzusammenfassung Die steigende Komplexität moderner Fahrzeuge und ihre Integration mit intelligenten Systemen erfordern eine gründliche Verifikation und Validierung (V&V) der Fahrzeugdynamik. Diese Arbeit entwickelt und bewertet ein Testkonzept im AUDEx-Projekt, um die Lücke zwischen virtuellen Simulationen und realen Tests zu schließen. Hierfür werden ein ESP-WROOM-32-Mikrocontroller, ein BNO055-Sensor und eine SD-Karte zur Datenerfassung genutzt.
Testfahrzeuge sind RC-Cars und reale Fahrzeuge, während CANBUS- und MANEUVER-Bibliotheken für Kommunikation und Simulation eingesetzt werden. Wichtige Messgrößen sind Roll, Nick, Gierwinkel und Beschleunigungen. Durch statische und dynamische Verifikationstests wird die Systemgenauigkeit überprüft. Die Validierungstests vergleichen reale Testergebnisse mit Simulationen und analysieren Abweichungen.
Die Forschung liefert wertvolle Erkenntnisse zur Testmethodik, Datenqualität und Systemleistung. Das entwickelte Konzept trägt zur Optimierung der Fahrzeugdynamiktests bei und eröffnet neue Möglichkeiten für den Einsatz von Machine Learning und erweiterten Simulationsmodellen. Duc Binh Tran Title of the paper Definition, Excuting and Evaluation of verification and validation tests (vehicle dynamic) for a vehicle in AUDEx-Project. Keywords Vehicle Dynamics, Validation and Verification, Sensor Data Acquisition, Real-time Data Logging, Virtual Simulations, RC Car Testing.
Abstract The increasing complexity of modern vehicles and their integration with intelligent systems require thorough verification and validation (V&V) of vehicle dynamics. This thesis develops and evaluates a testing framework within the AUDEx project to bridge the gap between virtual simulations and real-world testing. For this purpose, an ESP-WROOM-32 microcontroller, a BNO055 sensor, and an SD card are used for data acquisition. The test vehicles include RC cars and real vehicles, while CANBUS and MANEUVER libraries facilitate communication and simulation.
Key measured parameters include roll, pitch, yaw, and accelerations. Through static and dynamic verification tests, the system’s accuracy is assessed. Validation tests compare real-world test results with simulations to analyze deviations. This research provides valuable insights into testing methodologies, data quality, and system performance.
The developed framework contributes to enhancing vehicle dynamics testing and opens new possibilities for machine learning applications and advanced simulation models. iv Error! Use the Home tab to apply Anhangüberschrift to the text that you want to appear here. v Error! Use the Home tab to apply Anhangüberschrift to the text that you want to appear here. Acknowledgements This work is created during the time I spent as a research student Graduation Project at the Department of Mechanical Engineering Technical Hamburg University of Applied Sciences, under supervision of Prof.
-Ing Dirk Engel and Assoc. Quang Vinh Tran. Completion of this work would not have been possible without the guidance of my Prof. -Ing Dirk Engel.
I would like to express my special thanks to him for his tolerance, patience and understanding. As my thesis supervisor, he did not only lead me through the path to my promotion, but also acted as a role model and gave me inspiration in many non-sciencific aspects of my life. I would like to thank my two teachers Prof. Quang Vinh Tran and Prof.
Duy Vinh Nguyen in Phenikaa University, who gave me the opportunity to go to HAW Hamburg to study, experience and do my Bacherlor Thesis. I would also like to extend my thanks to Christoph Olbrich and Marcel Kaminski, who suppported me socially and scientifically through all my semester in Germany. Hereby, I would like to state my gratitude to Hamburg University of Applied Sciences for financing my research. I would like to thank my family for creating all the conditions for me to go to Germany to study.
I would like to thank all my friends in Germany, Vietnam, Taiwan, Morroco, Portugal, India, Spain, Brazil, … who helped me carry this burden through the joy of their companionship. Finally, thank you all of them so much for their unending love, support, good wishes and prayers. Duc Binh Tran Hamburg, February 2025 vi Error! Use the Home tab to apply Anhangüberschrift to the text that you want to appear here. Dirk Engel vii Error! Use the Home tab to apply Anhangüberschrift to the text that you want to appear here.
Dirk Engel Contents List of Abbreviations. xi List of Symbols and Indices .2 Objectives of the Thesis.4 Scope and Contributions .1 Fundamentals of Vehicle Dynamics .1 Definitions of Concepts of Verification and Validation .3 Appriaches to Verification and Validation .2 Verification and Validation in Automotive Engineering .1 Vehicle Dynamics and Modeling .2 Practice of Validation of Simulation Models for Vehicle Dynamics .3 Theory of Validation of Simulation Models for Vehicle Dynamics .4 Expert Views on the Subject.3 Tools and Frameworks: CANBUS, MANEUVER, and Testing Platforms .4 Related Work and Case Studies .1 Related Work in Vehicle Dynamics Simulation for RC Cars .2 Case Studies in Verification and Validation of Vehicle Dynamics Models 23 2.3 Application of Testing Frameworks in Vehicle Dynamics .1 Overview of the AUDEx System .24 viii Error! Use the Home tab to apply Anhangüberschrift to the text that you want to appear here.2 Workflow and Approach .3 Hardware and Software Integration .2 ESP32, BNO055 Sensor and SD Card Setup .1 Hardware Design and Setup .1 Sensor calibration and Mounting .2 Data Logging System: ESP32 and SD Card .1 Data Transmission and Acquisition .2 AUDEx Integration Workflow .3 Real and Virtual Testing Environments .37 5 Testing and Evaluation .1 Test Objectives and Success Criteria .2 Dynamic Testing Scenarios .2 Key Metrics Evaluation .2 Single Lane Change .91 List of References .93 ix Error! Use the Home tab to apply Anhangüberschrift to the text that you want to appear here. Dirk Engel x Prof. Dirk Engel List of Abbreviations Abbreviation Description ABS Antilock Braking System AIAA American Institute of Aeronautics and Astronautics CAE Computer Aided Engineering CAN Controller Area Network CFD Computational Fluid Dynamics EDZ Experimental Data Zone ESC Electronic Stability Control FEM Finite Element Method FZD Institute of Automotive Engineering, TU Darmstadt ISO International Organization for Standardization MVW Metric Validity Window NASA National Aeronautics and Space Administration OEM Original Equipment Manufacturer OS Overshoot P/M Project Management STM Standardized Test Maneuver SWA Steering Wheel Angle V&V Verification and Validation xi Prof.
Dirk Engel List of Symbols and Indices Symbol Unit Description t s Time ω rad/s Cyclic frequency tr s Rise time td s Delay time tp s Peak time ts s Settling time Mos - Maximum overshoot ratio C - Steady state estimation coefficient α - Uncertainty v - Degree of freedom N - Number of samples U misc. Upper bound L misc. Lower bound µ misc. Mean value σ misc.
Standard deviation Cxy - Coherence function (between x and y) Gxy misc. Cross spectral density (between x and y) Gxx misc. Auto spectral density of input Gyy misc. Auto spectral density of output Rfg misc.
Cross correlation function (between f and g) τ misc. Time difference Fx misc. Fourier transformation (of x) Fx,y misc. Transfer function (between x and y) |x| misc.
Absolute value (of x) Φx,y misc. Phase angle (between x and y) Re misc. Real part Im misc. Imaginary part X misc.
Mean value of data x xii Error! Use the Home tab to apply Anhangüberschrift to the text that you want to appear here. Dirk Engel 1 Introduction 1.1 Background of the AUDEx Project Figure 1: RC Car in AUDEx project The AUDEx project (Automotive Development in 1:x) is a collaborative initiative aimed at advancing the processes of automotive testing through innovative verification and validation (V&V) methodologies. The project seeks to bridge the gap between real- world and virtual testing environments, enabling a more comprehensive understanding of vehicle dynamics. In the automotive industry, V&V processes are crucial to ensuring the safety, reliability, and performance of vehicles.
These processes involve rigorous testing to meet the industry’s stringent quality standards and regulatory requirements. AUDEx addresses the growing challenges posed by increasing system complexity and the integration of intelligent systems in modern vehicles. Through the use of advanced tools and frameworks, such as CANBUS for data communication and the MANEUVER library for simulation, the project enables researchers and engineers to validate dynamic vehicle models efficiently. By combining physical RC car models and full-scale real vehicles with virtual simulations, AUDEx provides a robust foundation for automotive testing.
1 Error! Use the Home tab to apply Anhangüberschrift to the text that you want to appear here.2 Objectives of the Thesis This thesis focuses on defining, executing, and evaluating a comprehensive V&V framework for vehicle dynamics within the AUDEx project. The primary objectives are: Defining Test Frameworks: Develop structured test plans and methodologies tailored for both virtual simulations and real-world testing. Establish clear performance metrics and validation criteria to assess critical aspects of vehicle dynamics, including acceleration, yaw rate, roll, and pitch. Hardware-Software Integration: ESP32 microcontrollers for real-time data processing and communication.
BNO055 orientation sensors to measure key parameters such as roll, pitch, yaw, and acceleration. SD card storage for reliable logging and long-term data retention. Ensure seamless integration between hardware components and software tools for efficient data collection and analysis. Data Collection and Analysis: Gathering key metrics such as roll, pitch, yaw, and acceleration for dynamic analysis.
Use advanced analytical techniques and tools (e., MATLAB) to process and interpret the collected data. Evaluation: Compare real-world test results with virtual simulation outcomes to validate the accuracy and reliability of the V&V framework. Identify discrepancies between simulated and actual performance, and propose refinements to improve the testing process. Assess the effectiveness of the implemented hardware-software system in capturing and analyzing vehicle dynamics data.
The outcomes aim to enhance the AUDEx project's testing processes and contribute to the broader field of automotive engineering. Enhance the AUDEx project's testing methodologies by introducing standardized procedures and reliable data acquisition systems. Provide valuable insights into the application of low-cost, high-performance sensors (e., BNO055) and microcontrollers (e., ESP32) for vehicle dynamics analysis. Contribute to the broader field of automotive engineering by demonstrating the feasibility of integrating affordable technologies into rigorous V&V processes.
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