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Car Dynamics with ABS, ESP and GPS Systems

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This is my project in my third year of studying in the Faculty of Information Technology Engineering in Damascus, Syria, 2011 with Ismaeel Abo Abdalla, Zaher Wanli and Mhd Noor Alhamwi. The project simulates the physics of the car movement with/without Anti Brake-Lock System (ABS), Electronic Stability Program (ESP) and Global Positioning System (GPS) all in realtime.

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Car Dynamics with ABS, ESP and GPS Systems

  1. 1. Analyzed and Implemented By Mohammad Shaker Ismaeel Abu Abdalla Noor Elden Alhamwi Zaher Wanli Supervised by Ubai Sandouk Faculty of Information Technology Engineering of Damascus, Syria 2010, 2011 Physics Simulation of Car Behavior Under ABS, ESP and GPS Systems
  2. 2. Timeline • 5 min: Physics Model • 5 min: Demo • 10 min: Discussion
  3. 3. • Car Physics (Acc, Velocity, Gravity, Turning) • Electronic Stability Program (ESP) • Anti-brake System (ABS) • Global Positioning System (GPS) What is the model?
  4. 4. Car Movement Modeling
  5. 5. • Basic Forces, Torques and Gravity for Car Movement – Gravity – Engine Torque – Wheels Torque – Traction – Aerodynamics – Braking Physics Model – Car Movement
  6. 6. Engine Torque (Power vs rpm) Can be achieved by Interpolation Engine Torque
  7. 7. Electronic Stability Program (ESP)
  8. 8. ESP System Car Movement around its different axis
  9. 9. ESP System Car Movement around its different axis
  10. 10. ESP System Controlling Car Behaves Through Corners
  11. 11. UndersteerOversteer Understeer VS Oversteer
  12. 12. Two-Wheel Bicycle Model
  13. 13. ESP Simulation • Weight distribution change • Wheels slipping angles 𝛼𝑓, 𝛼𝑟 • Longitudinal and Lateral acceleration 𝑎 𝑥 • Forces effecting front and rears 𝐹𝑥𝑟 , 𝐹𝑥𝑓 • Movement around axis – Yaw rate – Slip angle • Corner radius • Deviation angle for fronts under auto-pilot
  14. 14. Typical ESP architecture
  15. 15. ESP Algorithm
  16. 16. Anti-brake System (ABS)
  17. 17. ABS System
  18. 18. ABS System Params • The Brake Pedal Force • The Master Cylinder • Brake Fluid, Brake Pipes, and Hoses • The Caliper • The Rotor • Wheel Torque • Force between wheel and ground • Wheel’s angular velocity ω • Friction Coefficient μ
  19. 19. Global Positioning System (GPS)
  20. 20. GPS System Simulation Find closest route with minimum traffic
  21. 21. Positioning Enhancement Algorithm
  22. 22. Positioning Enhancement Algorithm
  23. 23. Positioning Enhancement Algorithm
  24. 24. Positioning Enhancement Algorithm
  25. 25. Now Moving Backwards
  26. 26. Now Moving Backwards
  27. 27. Now Moving Backwards
  28. 28. Now Moving Backwards
  29. 29. Now Moving Backwards
  30. 30. Shortest Path (Dijkstra)
  31. 31. XML Road files Road Curves Interpolation
  32. 32. Collision Detection
  33. 33. Collision Detection • Why CD? • Algorithm (Quad trees) • CD and GPS working together at realtime
  34. 34. Implementation Graphics Engine Physics Engine Sounds Engine
  35. 35. Implementation C# and XNA, XML
  36. 36. Snapshots
  37. 37. Different Cameras
  38. 38. Different Cameras
  39. 39. ESP and ABS at realtime
  40. 40. GPS Presentation • GPS and different routes to target • Traffic Start End
  41. 41. GPS at realtime
  42. 42. Controllers Keyboard and Joysticks!
  43. 43. Future Perspectives • Physics Engine – Formula1? – Simulation, enhancement and delivery • Graphics Physics Sounds Engines – Object3D Object2D realtime instantiation – Cameras
  44. 44. References Read the documentation
  45. 45. Thanx

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