The document describes performance traction control (PTC) and a side-slip angle estimator that can maximize vehicle performance while maintaining safety. PTC allows for more driver control and feeling without compromising stability. It relaxes stability system intervention to improve acceleration and allow controlled drifting. The side-slip angle estimator uses only existing vehicle sensor data to estimate slip angles. The workflow involves collecting vehicle data, identifying side-slip models, calibrating PTC, validating in simulation, and testing on real vehicles. PTC comes in different configurations to interface with vehicle systems.

1. PERFORMANCETRACTION CONTROL
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2. PerformanceTraction Control
(PTC)
Stability Margin Improvement
Maximum Longitudinal Acceleration
Controlled Drifting
Certifiable as ISO 26262.
The PerformanceTraction Control algorithm gives more control and feeling to the driver without compromising safety.
It allows to relax the intervention of the stability control without compromising the stability and the safety of the vehicle.
Our PerformanceTraction Control maximizes the performance in every driving condition giving the vehicle the maximum available acceleration in exiting turns.
When used for fun it keeps the vehicle easy to drive and safe even in the most accentuated drifting maneuvers.

3. Side-Slip Angle (beta) Estimator
(SSE 2.0)
Our Side-Slip angle Estimator (SSE 2.0) is a software
algorithm ready to be integrated in any ECU.
This algorithm runs in Real-Time on a fraction of the
resources already available on modern ECUs (15%
CPU occupation on Infineon TC1767) and uses
exclusively the data already available on the vehicle
CANBus.
It is insensitive to different tire sizes, tire conditions,
environmental (grip) conditions.
It is certifiable as ISO 26262.
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4. Features
•No Additional Sensors: works with CANBus data @ 50Hz or 100Hz
•Robust (insensitive) toTire Wear andTemperature
•Works in any handling and road conditions
•Available for 2WD and 4WD and 4 wheel steering vehicles
•Wheel Speed
•Front Steer Angle (and rear steer angle when available)
•Ax; Ay; Yaw Rate
Technical Data
•ZERO response Lag
•Maximum estimation Error on Wet / Dry conditions: 0.4° RMS
•Maximum estimation Error on Snow / Ice: 1.1° RMS
•Vehicle Speed: from 10 to 300 km/h
The sideslip angle estimator uses only the informations already available on the
vehicle’s CANBus.
This is important because it means that it does not require any additional
hardware: this is just a pure software implementation.
Our algorithm has been integrated in the controls of thousands of production cars
ranging from two to four wheel drive and from two to four wheel steering
vehicles.
You can find a full description of the SideSlip Angle Estimator algorithm in a
separate presentation.

5. •PTC 0
•PTC 1
•PTC 2
•PTC 3
PTC comes in 4 configurations

6. PTC 0 : Δ slip
provides the Δ slip to be added to the reference signal
Performance
Traction Control
+
Traction
Control
ECU
Reference Slip
Traction ControlReference Slip
Vehicle
CANBus
Δ Slip
The PTC 0 configuration provides the Delta Slip value to be added to the available reference slip signal.
The new reference signal will be the sum of the two and will be used as the new reference for theTraction Control System.

7. PTC 1 : direct Slip Reference Signal
maximum leeway for PTC to improve the performance
Performance
Traction Control
ECU
Vehicle
CANBus
Reference Slip Traction
Control
The PTC 1 configuration provides the input Slip Reference Signal directly to the traction control loop.This solution ensures additional
leeway for PTC to improve the performance.

8. PTC 2 : Reference EngineTorque signal
bypass the slip control loop
Performance
Traction Control
ECU
Vehicle
CANBus
Reference EngineTorque
The PTC 2 provides the Reference EngineTorque signal in input to the engine control loop. PTC 2 bypasses the slip control loop and
directly generates the desired reference signal.

9. PTC 3 : Reference EngineTorque +Throttle signal
bypass the slip control loop and assures the maximum performance
Performance
Traction Control
ECU
Vehicle
CANBus
Reference EngineTorque
Throttle
The PTC 3 provides both the Reference EngineTorque signal and theThrottle signal as input to the engine control loop.
This configuration ensures the maximum potential performance.

10. •Data Collection
•Identification of the SideSlip Angle Estimator
•Calibration of the PerformanceTraction Control
•Validation of the PTC on the simulator
•Validation on the real vehicle
Workflow
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11. Workflow Step 1
Data Collection
The First Step in the workflow is about collecting vehicle data on different grip
conditions, tire sizes, driving style and sideslip angles.
Since this step is costly and time consuming if performed on a test track, we
established a partnership withVI-grade to integrate their simulator in the
process.
In this way most of the required tests can be performed on theVI-grade
Dynamic Simulator.
The use of the Simulator ensures more repeatability of the tests and easier
setups, savings in testing times and costs.
On the Simulator it is possible to carry-out the frequency sweep steer test,
the steady state maneuvers, launch control and ABS maneuvers

12. Workflow Step 2
SideSlip Angle Estimator
The Second Step is the Identification of the mathematical model for the
SideSlip Angle Estimator.
This step is basically a training of our nonlinear models and it’s carried-out
on our proprietary Computing Cluster.
We consider this stage done when the performance estimation is
generalized and stabilized across all the different working conditions.

13. Workflow Step 3
PTC Calibration
TheThird Step in our workflow is the calibration of the PerformanceTraction Control algorithm.
This step is typically performed in simulation.
Thanks to our partnership withVI-grade we can develop seamlessly using theVI-CarRealTime vehicle models. In this way we can analyze the
robustness to the different working conditions of a given calibration setup in a controlled environment while saving time and lowering testing costs.

14. Workflow Step 4
PTCValidation on Simulator
The Fourth Step is the validation on the simulator in a much wider range of
driving conditions.
By using the Simulator, it is possible to reduce the number of tests to be
performed on the test track by more than 50%.
In this phase the simulator allows the pilot, professional and non
professional, the opportunity to test safely the vehicle in drifting conditions
and give important feedback about the performance and feeling.

15. Workflow Step 5
PTCValidation on Vehicle
The fifth and final step is performed on the real vehicle: here we drive the system on the test track with professional drivers and check that the performance and the feelings transmitted by the vehicle
will fulfill the customer’s requirements and expectations.
Now the PerformanceTraction Control is ready to be embedded in the vehicle’s ECU and go to production.

16. Addfor s.r.l.
www.add-for.com
P.zza Solferino 7
Torino 10121 (TO) - Italy