Analyzed and Implemented ByMohammad Shaker

Ismaeel Abu AbdallaNoor Elden Alhamwi

Zaher Wanli

Supervised byUbai Sandouk

Faculty of Information Technology Engineering of Damascus, Syria 2010, 2011

Physics Simulation of Car Behavior Under ABS, ESP and GPS Systems

Timeline

• 5 min: Physics Model

• 5 min: Demo

• 10 min: Discussion

• Car Physics (Acc, Velocity, Gravity, Turning)

• Electronic Stability Program (ESP)

• Anti-brake System (ABS)

• Global Positioning System (GPS)

What is the model?

Car Movement Modeling

• Basic Forces, Torques and Gravity for Car Movement

– Gravity

– Engine Torque

– Wheels Torque

– Traction

– Aerodynamics

– Braking

Physics Model – Car Movement

Engine Torque (Power vs rpm)

Can be achieved by Interpolation

Engine Torque

Electronic Stability Program (ESP)

ESP System

Car Movement around its different axis

ESP System

Car Movement around its different axis

ESP SystemControlling Car Behaves Through Corners

UndersteerOversteer

Understeer VS Oversteer

Two-Wheel Bicycle Model

ESP Simulation

• Weight distribution change

• Wheels slipping angles 𝛼𝑓, 𝛼𝑟

• Longitudinal and Lateral acceleration 𝑎𝑥• Forces effecting front and rears 𝐹𝑥𝑟 , 𝐹𝑥𝑓

• Movement around axis

– Yaw rate

– Slip angle

• Corner radius

• Deviation angle for fronts under auto-pilot

Typical ESP architecture

ESP Algorithm

Anti-brake System (ABS)

ABS System

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

Global Positioning System (GPS)

GPS System Simulation

Find closest route with minimum traffic

Positioning Enhancement Algorithm

Positioning Enhancement Algorithm

Positioning Enhancement Algorithm

Positioning Enhancement Algorithm

Now Moving Backwards

Now Moving Backwards

Now Moving Backwards

Now Moving Backwards

Now Moving Backwards

Shortest Path (Dijkstra)

XML Road files

Road Curves Interpolation

Collision Detection

Collision Detection

• Why CD?

• Algorithm (Quad trees)

• CD and GPS working together at realtime

ImplementationGraphics EnginePhysics EngineSounds Engine

ImplementationC# and XNA, XML

Snapshots

Different Cameras

Different Cameras

ESP and ABS

at realtime

GPS Presentation

• GPS and different routes to target

• Traffic

Start

End

GPS at realtime

ControllersKeyboard and Joysticks!

Future Perspectives

• Physics Engine

– Formula1?

– Simulation, enhancement and delivery

• Graphics \ Physics \ Sounds Engines

– Object3D \ Object2D realtime instantiation

– Cameras

ReferencesRead the documentation

Thanx