20191203 1045 1105 Using i dolly for local distribution of container trailers 201703036 BF73240 DNR 201703036 FFIEUTS Results Conference FFI Internal 2 20191203 Outline ID: 933045
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Slide1
FFI-EUTS Results Conference
2019-12-03, 10.45 – 11.05
Using
i
-dolly for local distribution of container trailers
2017–03036
Slide2BF73240, DNR 2017-03036 FFI-EUTS Results Conference, FFI Internal2
2019-12-03
Outline
Time
Subject
Responsible
10.45
Goal
and
Objectives
LB
10.50
Results / Achievements
LB
10.55
Industry Usage of Project Results: Reference Architecture for Functionality (aligned
with
Volvo Standard)
JV
11.00
Q
& A
LB & JV
11.05
End of presentation
LB
Slide3BF73240, DNR 2017-03036 FFI-EUTS Results Conference, FFI Internal3
2019-12-03
Background
Increased global trade
High demands on efficient and sustainable transport solutions
Three year FFI project, DNR 2017–03036
Volvo Group Coordinator
Budget ~ 18.6 MSEK
Slide4Goal and ObjectivesGoal: Future transportation technology(i
-dolly) to pull container transport with minimal investment on infrastructureAppropriate equivalent and cost efficient alternative to AGV
Automation of local distribution using the
i
-dolly during the night time and early hours so the road network is used efficiently
Electrification along with automation will ensure the energy efficiency and environmental friendliness
The transportation task will be completed with
i
-dolly together with the existing
AutoFreight
and Optimal Distributed Propulsion project
2019-12-03
BF73240, DNR 2017-03036 FFI-EUTS Results Conference, FFI Internal
4
Slide5Results/Achievements
Use Case Simulations
Use Cases has been simulated virtually using vehicle models
Vehicle Motion Mgmt (VMM)
Layer of the software is prepared for the
i
-Dolly (as a master mode)
Auto coupling of
i
-dolly and semitrailer
Verified using physical vehicles
HW/SW of i-dolly
Motion Support Device (MSD) software layer for individual subsystems of actuators including CAN communications, signals etc. has been integrated and verified
2019-12-03
BF73240, DNR 2017-03036 FFI-EUTS Results Conference, FFI Internal
5
Slide66Results/Achievements: Use Case Simulations
2019-12-03
BF73240, DNR 2017-03036 FFI-EUTS Results Conference, FFI Internal
i-Dolly master – Auto de-coupling & auto reversing
The verification of the software for the Use Cases, including Use Case for VBG (drawbar), has been
simulated virtually using vehicle models
.
Delivery of Vehicle models with runtime decoupling and coupling possibility.
Development of Vehicle simulations and analysis in conjunction with Chalmers Master Thesis student and the project course within Chalmers
Slide7Results/Achievements: Vehicle Motion Mgmt (VMM)Vehicle Motion
Mgmt (VMM) coordinates actuators according to desired forces and moments on vehicle units from Traffic Situation Mgmt
(TSM).This layer of the software is prepared for the
i
-Dolly (as a master mode) and performs as required virtually and has been verified using simulations .
The result from tests shows that the Vehicle Motion Management layer performance functioned as necessary.
However, some adaptation and tuning remain to get the desired performances.
2019-12-03
BF73240, DNR 2017-03036 FFI-EUTS Results Conference, FFI Internal
7
Slide8Results/Achievements: Auto coupling of i-dolly and semitrailer
The i-dolly use cases has been partly
verified using physical vehicles with a Tractor (acting as an i
-dolly) and a semitrailer at
Asta
Zero
,
demonstrated during the IAVSD conference in Aug 2019.
and with a physical
i
-dolly at
CampX
in Nov 2019.
Auto coupling /decoupling: a/The tractor emulating the i-dolly was reversed into a semitrailer and coupled automatically. This also involved the raising the fifth wheel position by means of the electronically controlled air suspension. Trailer legs were raised by means of request from the JOST KKS (
Komfort Kupplung System). b/
The coupled combination of the tractor (representing the
i
-Dolly) and semitrailer was then driven few meters forward in a straight line and then reversed to the starting position.
c/
After reaching the reference position the decoupling sequence was initiated and accomplished automatically without any driver intervention.
Actuation of physical I-dolly steering and braking:
At
CampX
the i-dolly actuation was demonstrated (steering and braking). However propulsion of the i-dolly has not yet been demonstrated.2019-12-03BF73240, DNR 2017-03036 FFI-EUTS Results Conference, FFI Internal8
8
Slide9Results/Achievements: HW/SW of i-dollyLow speed and high speed
lateral control design
(steering-based control) for A-double vehicle combination with i
-dolly in slave mode.
Developing a
GPS-based Path-following
controller for
i
-dolly (Chalmers Master thesis 2019 and Chalmers Project course 2018)
The Motion Support Device (MSD) software layer for individual subsystems of actuators including CAN communications, signals etc. were
integrated and verified
according to the requirements. All the actuators, except the powertrain system (electrical drive system), namely steering system, brake system, suspension system, coupling system were mounted physically on the dolly structure. The required electrical installation and verification were performed on different systems individually.
2019-12-03
BF73240, DNR 2017-03036 FFI-EUTS Results Conference, FFI Internal
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Slide1010Industry Usage of Project Results: Reference Architecture for Functionality (aligned with Volvo Standard)
2019-12-03
BF73240, DNR 2017-03036 FFI-EUTS Results Conference, FFI Internal
This project has strengthen the Swedish market by the introduction of
cutting edge automated transport solutions
. Especially the influence to the Reference Architecture for Functionality (aligned with Volvo Standard) is a valuable project result for industry usage. The results have strengthen key competence in participating companies and universities.
The research and development has been conducted by also
involving customers and suppliers
.
The
results have
been
disseminated
into advanced engineering and product development projects within AB Volvo and VBG.
Slide1111Industry Usage of Project Results: Reference Electrical Architecture for A-double combination
Integration of JOST KKS (
Komfort
Kupplung
System) and VBG MFC (Multi Function Coupling)
Volvo CAN for full combination communication
Based on Volvo standard: Vehicle Motion Functionality Reference Architecture (
VeMFRA
)
2019-12-03
BF73240, DNR 2017-03036 FFI-EUTS Results Conference, FFI Internal
Slide1212
Industry Usage of Project Results:
Master mode
Dynamic reconfiguration (Dolly slave or master)
Centralized control in the Vehicle Motion
Mgmt
(VMM)
Automatic coupling/decoupling and reversing (master mode)
2019-12-03
BF73240, DNR 2017-03036 FFI-EUTS Results Conference, FFI Internal
Slide1313
Industry Usage of Project Results: Slave Mode
Actuator coordination of propulsion, steering and braking for articulated vehicles (A-double combination)
Vehicle to Vehicle (V2V) communication with first unit (tractor)
2019-12-03
BF73240, DNR 2017-03036 FFI-EUTS Results Conference, FFI Internal
Slide1414
Q & A
BF73240, DNR 2017-03036 FFI-EUTS Results Conference, FFI Internal
2019-12-03
Slide15Thank you for your attention!15
BF73240, DNR 2017-03036 FFI-EUTS Results Conference, FFI Internal
2019-12-03