Testing with CarSim

To verify the design of ARS, CarSim was used to ensure that the vehicle responded normally with the ARS controller in different testing scenarios. Three different scenarios were created. The first was an incline road of approximately 6°. The vehicle accelerates up to 120km before the brakes are applied and the vehicle slows down to a stop. As it comes to a stop the clutch is depressed. Once the velocity reaches 0 ARS becomes active and there is no longer a need to hold the brake pedal. As seen in the charts below that at 47sec the brake pedal is released but since the clutch is still depressed the ARS is holding the brake pressure. As soon as the clutch is released the car starts moving forward. This case proves that the ARS controller functions on a small incline with the vehicle resuming to forward motion.

The Simulink model allowed testing of the car on all inclines. When testing the code on all inclines, the vehicle was successfully stopped when both the conditions were satisfied. The Simulink code allowed successfully performance of all tests in CarSim; that validated the ARS concept in a vehicle with manual transmission.

The Simulink figure shows how the “product” function was added to the feedback loop. By adding the product function the Simulink model will send a value of “2” when all the conditions are met and will still send a value of “0” when the conditions are not met. This allows the car to apply a braking force of 2kPa, which will allow the car to stop on any incline.