arXiv subjects

Fredrik Bruzelius

Publications and source records attributed to Fredrik Bruzelius.

2 recordsLinked to original sources

arXiv2026

Validation of a driver model for energy consumption simulations of road vehicles

The energy performance of road vehicles has traditionally been evaluated using driving cycles, in which a prescribed speed profile is tracked either in simulation or by a physical vehicle. Recent research has proposed an alternative framework based on operating conditions, where the driving environment is described in terms of factors such as road topography, legal speed limits, traffic, and weather, rather than by an explicit speed profile. This paper addresses the complementary problem of driver modeling, necessary to translate the operating conditions to a speed profile. A simple driver model designed to be compatible with the operating-condition framework and evaluates its ability to reproduce realistic driving behavior is investigated. Validation of the model is done through a controlled driving-simulator study vehicle log files collected during real-world operation and are used to identify the model parameters and assess the model's predictive performance. The results suggest that this simple model can be efficient in reproducing major effects of driver behavior, while further research is required to fully assess its validity.

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arXiv2024

Robust $H_{\infty}$ Position Controller for Steering Systems

This paper presents a robust position controller for electric power assisted steering and steer-by-wire force-feedback systems. A position controller is required in steering systems for haptic feedback control, advanced driver assistance systems and automated driving. However, the driver's \textit{physical} arm impedance causes an inertial uncertainty during coupling. Consequently, a typical position controller, i.e., based on single variable, becomes less robust and suffers tracking performance loss. Therefore, a robust position controller is investigated. The proposed solution is based on the multi-variable concept such that the sensed driver torque signal is also included in the position controller. The subsequent solution is obtained by solving the LMI$-H_{\infty}$ optimization problem. As a result, the desired loop gain shape is achieved, i.e., large gain at low frequencies for performance and small gain at high frequencies for robustness. Finally, frequency response comparison of different position controllers on real hardware is presented. Experiments and simulation results clearly illustrate the improvements in reference tracking and robustness with the proposed $H_\infty$ controller.

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