Change search
Link to record
Permanent link

Direct link
BETA
Engström, Niclas
Publications (10 of 10) Show all publications
Fredriksson, H., van Deventer, J., Engström, N. & Ash, J. (2015). Automotive winter testing with path-following steering robot (ed.). International Journal of Vehicle Systems Modelling and Testing, 10(1), 29-52
Open this publication in new window or tab >>Automotive winter testing with path-following steering robot
2015 (English)In: International Journal of Vehicle Systems Modelling and Testing, ISSN 1745-6436, E-ISSN 1745-6444, Vol. 10, no 1, p. 29-52Article in journal (Refereed) Published
Abstract [en]

When testing modern active safety systems on cars, it is essential to test vehicle response to steering inputs. This paper highlights the use of a path-following steering robot for repetitive car testing in winter conditions. Experiments have been made with commonly used test sequences, e.g., lane-change, double lane-change, constant radius circle, and handling circuit. The steering input from the human driver is replaced by a steering robot and a path-following algorithm. The main focus for this paper is to describe what happens when one pushes the path-following system to, and beyond, the physical limitations of road grip when cornering at high vehicle speed. It shows that, with an appropriate tuning of the path-following parameters, the system performs predictably and satisfactorily. The overall conclusion is that a path-following steering robot is indeed useful for repetitive test in winter conditions with poor road grip.

National Category
Other Electrical Engineering, Electronic Engineering, Information Engineering
Research subject
Industrial Electronics
Identifiers
urn:nbn:se:ltu:diva-3809 (URN)10.1504/IJVSMT.2015.067520 (DOI)2-s2.0-84923508117 (Scopus ID)1a5a0dce-25f2-42ed-b734-f56dd1c6d89d (Local ID)1a5a0dce-25f2-42ed-b734-f56dd1c6d89d (Archive number)1a5a0dce-25f2-42ed-b734-f56dd1c6d89d (OAI)
Projects
CASTT - Centre for Automotive Systems Technologies and Testing
Note

Validerad; 2015; Nivå 1; 20140528 (hf)

Available from: 2016-09-29 Created: 2016-09-29 Last updated: 2018-07-10Bibliographically approved
Casselgren, J., Engström, N., Rosendahl, S. & Fransson, L. (2014). Investigation of ice surface change during vehicle testing (ed.). Paper presented at . International Journal of Vehicle Systems Modelling and Testing, 9(2), 137-150
Open this publication in new window or tab >>Investigation of ice surface change during vehicle testing
2014 (English)In: International Journal of Vehicle Systems Modelling and Testing, ISSN 1745-6436, E-ISSN 1745-6444, Vol. 9, no 2, p. 137-150Article in journal (Refereed) Published
Abstract [en]

Today, there are a lot of vehicles and tyre testing carried out on lake ice surfaces. Thus, it is important to have knowledge about parameters that affect roadgrip. The thesis within this paper is that the liquid like layer which appears due to increasing temperature can be reduced by manipulating the ice roughness. This in turn should decrease the temperature dependence of the roadgrip in temperatures around 0°C. In order to investigate this, measurements of temperature, surface roughness and hardness and roadgrip were performed on three outdoor ice surfaces using an IR thermometer, an optical sensor with three IR-diodes, a steel ball drop indentation test and an RT3 curve, respectively. Additional ice roughness measurements were also made on two tempered ice surfaces in an ice hall. Results show a clear connection between ice temperature and roadgrip, unfortunately the created ice roughness was too small to influence the change in roadgrip

National Category
Applied Mechanics Tribology (Interacting Surfaces including Friction, Lubrication and Wear) Infrastructure Engineering
Research subject
Experimental Mechanics; Machine Elements; Structural Engineering
Identifiers
urn:nbn:se:ltu:diva-7501 (URN)10.1504/IJVSMT.2014.061435 (DOI)2-s2.0-84901634457 (Scopus ID)5e55df2a-1148-4308-bf6f-d8fde27fbe78 (Local ID)5e55df2a-1148-4308-bf6f-d8fde27fbe78 (Archive number)5e55df2a-1148-4308-bf6f-d8fde27fbe78 (OAI)
Projects
CASTT - Centre for Automotive Systems Technologies and Testing
Note
Validerad; 2014; 20131128 (sarros)Available from: 2016-09-29 Created: 2016-09-29 Last updated: 2018-07-10Bibliographically approved
Fredriksson, H., Engström, N. & Ash, J. (2013). Winter test of ABD steering robot (ed.). Paper presented at .
Open this publication in new window or tab >>Winter test of ABD steering robot
2013 (English)Report (Other academic)
Abstract [en]

This report highlights the use of a steering robot with path-following for car testing in winter conditions. The steering robot was provided from Anthony Best Dynamics. Experiments have been made with a couple of commonly used test sequences (lane change, dual lane change, constant radius circle, handling), the result from these test are shown and discussed. The path-following algorithm gives steering commands to the car (replace the human driver), these commands affect how the car will move; hence, the car performance is affected by the behaviour of the path-following algorithm. The settings of the path-following algorithm greatly affect the car response in different situations. This is especially noticeable when the car starts to slide, a situation common when driving on a slippery winter road. The main focus for this report is to describe what happens when you push the path-following system to, and beyond, the physical limitations concerning road grip and vehicle speed. A theoretical analysis of the path-following algorithm and how it reacts on large lateral errors and high sideslip angles was done. As shown in the results, the evaluated path-following test sequences in general did work out well. Some characteristics of the algorithm, especially noticeable when driving in winter condition, were found and discussed. The overall impression is that the ABD steering robot with path-following can indeed be useful for repetitive test in winter conditions with bad road grip.

Publisher
p. 36
National Category
Other Electrical Engineering, Electronic Engineering, Information Engineering
Research subject
Industrial Electronics
Identifiers
urn:nbn:se:ltu:diva-22467 (URN)2efa3289-18fa-4db2-aeff-0183742ac6f3 (Local ID)2efa3289-18fa-4db2-aeff-0183742ac6f3 (Archive number)2efa3289-18fa-4db2-aeff-0183742ac6f3 (OAI)
Projects
CASTT - Centre for Automotive Systems Technologies and Testing
Note
Godkänd; 2013; 20130807 (hf)Available from: 2016-09-29 Created: 2016-09-29 Last updated: 2017-11-24Bibliographically approved
Engström, N., Andrén, H., Larsson, R. & Fransson, L. (2011). Direct low lateral slip roadgrip measurement compared with surface reflection of three laser beams (ed.). Paper presented at PIARC International Winter Road Congress : 08/02/2010 - 12/02/2010. Paper presented at PIARC International Winter Road Congress : 08/02/2010 - 12/02/2010.
Open this publication in new window or tab >>Direct low lateral slip roadgrip measurement compared with surface reflection of three laser beams
2011 (English)Conference paper, Poster (with or without abstract) (Other academic)
National Category
Tribology (Interacting Surfaces including Friction, Lubrication and Wear) Infrastructure Engineering
Research subject
Machine Elements; Structural Engineering
Identifiers
urn:nbn:se:ltu:diva-39248 (URN)de7d222b-006c-4dc1-8af1-987ca8a6b71b (Local ID)de7d222b-006c-4dc1-8af1-987ca8a6b71b (Archive number)de7d222b-006c-4dc1-8af1-987ca8a6b71b (OAI)
Conference
PIARC International Winter Road Congress : 08/02/2010 - 12/02/2010
Note
Godkänd; 2011; 20110419 (andbra)Available from: 2016-10-03 Created: 2016-10-03 Last updated: 2018-01-14Bibliographically approved
Engström, N., Larsson, R., Andrén, H. & Fransson, L. (2010). Direct low lateral slip roadgrip measurement compared with surface reflection of three laser beams (ed.). Paper presented at PIARC International Winter Road Congress : 08/02/2010 - 12/02/2010. Paper presented at PIARC International Winter Road Congress : 08/02/2010 - 12/02/2010.
Open this publication in new window or tab >>Direct low lateral slip roadgrip measurement compared with surface reflection of three laser beams
2010 (English)Conference paper, Oral presentation only (Refereed)
Abstract [en]

Road grip on roads depend on many factors and different techniques are available to estimate available road grip. To ensure that entrepreneurs have successfully restored the road grip to an acceptable level both entrepreneurs and road keepers need tools to evaluate present road grip. Information about road grip can also be utilized directly in a vehicle if available, for systems such as ABS, traction control, etc. To evaluate a non-contact method based on three laser beams with different frequency this equipment was mounted on a car equipped with a fifth wheel behind the car. The wheel is angled about 1.5 degrees compared with the centreline of travel. A force sensor in the hub measures forces acting on a standard winter tire also mounted to the hub, this is considered to be one measurement of road grip. The main reason is to see how well one can estimate road grip with a low cost non contact device made with Laser beams in combination with a photodiode.

National Category
Tribology (Interacting Surfaces including Friction, Lubrication and Wear) Infrastructure Engineering
Research subject
Machine Elements; Structural Engineering
Identifiers
urn:nbn:se:ltu:diva-37758 (URN)be05fae0-e662-11de-bae5-000ea68e967b (Local ID)be05fae0-e662-11de-bae5-000ea68e967b (Archive number)be05fae0-e662-11de-bae5-000ea68e967b (OAI)
Conference
PIARC International Winter Road Congress : 08/02/2010 - 12/02/2010
Note
Godkänd; 2010; Bibliografisk uppgift: Bidragets titel på franska: Mesure de l’adhérence directe par glissement latéral faible, par rapport à la réflexion de trois faisceaux laser sur la surface; 20091211 (niceng)Available from: 2016-10-03 Created: 2016-10-03 Last updated: 2018-01-14Bibliographically approved
Engström, N. (2009). Activity: Transportforum 2009 (ed.). Paper presented at Transportforum 2009 : 08/01/2009 - 09/01/2009. Paper presented at Transportforum 2009 : 08/01/2009 - 09/01/2009.
Open this publication in new window or tab >>Activity: Transportforum 2009
2009 (English)Conference paper, Published paper (Other (popular science, discussion, etc.))
Identifiers
urn:nbn:se:ltu:diva-41529 (URN)695111c0-abd4-11dd-a7c5-000ea68e967b (Local ID)695111c0-abd4-11dd-a7c5-000ea68e967b (Archive number)695111c0-abd4-11dd-a7c5-000ea68e967b (OAI)
Conference
Transportforum 2009 : 08/01/2009 - 09/01/2009
Note
Startdatum: 08/01/2009; Slutdatum: 09/01/2009; Roll: Talare; Typ: Föreläsning / muntligt bidragAvailable from: 2016-10-03 Created: 2016-10-03 Last updated: 2017-11-24Bibliographically approved
Engström, N., Andrén, H., Larsson, R. & Fransson, L. (2009). Discrepancies between longitudinal high slip and lateral low slip friction measurements on prepared ice surfaces: Paper and poster (ed.). In: (Ed.), (Ed.), Compendium of papers DVD, TRB 88th annual meeting: January 11 - 15, 2009, Washington, D.C. Paper presented at Annual meeting. Transportation Research Board (TRB) : 11/01/2009 - 15/01/2009 (pp. 1-13). Washington, DC: TRB
Open this publication in new window or tab >>Discrepancies between longitudinal high slip and lateral low slip friction measurements on prepared ice surfaces: Paper and poster
2009 (English)In: Compendium of papers DVD, TRB 88th annual meeting: January 11 - 15, 2009, Washington, D.C, Washington, DC: TRB , 2009, p. 1-13Conference paper, Published paper (Refereed)
Abstract [en]

The Swedish road administration requested that an independent organization facilitate friction tests with several types of friction measuring devices. These tests were done on the following three surfaces: macro rough and micro smooth ice, macro- and micro smooth ice and macroand micro rough ice. The objective was to evaluate lateral low slip measuring devices against traditional longitudinal high slip devices. This was done by evaluating how they measure road grip, i.e. friction differences between road surfaces and the measuring tire. Tests were performed on Lake Kakel near Arjeplog, northern Sweden on March 18th, 2008. Weather conditions were stable with ice temperatures between -4°C (24.8°F) and -3°C (26.6°F). Tests showed that changes on the ice surfaces were readily detected with all four of the lateral low slip friction measurement devices and the two longitudinal high slip devices. Friction resolutions were higher with low lateral slip devices compared to high longitudinal slip devices. The tires on the devices were of different types and are the main reason for the difference in friction resolution. One major difference was detected; the lateral low slip method measured higher friction between its regular winter tire and the macro rough, micro smooth surfacecompared to the friction on the macro- and micro rough ice. Longitudinal high slip devices measured higher friction between its industrial friction tire and macro- and micro rough ice. Capacity to measure friction in curves was only displayed by the high longitudinal slip devices.

Place, publisher, year, edition, pages
Washington, DC: TRB, 2009
Keywords
Engineering mechanics - Other engineering mechanics, Teknisk mekanik - Övrig teknisk mekanik
National Category
Tribology (Interacting Surfaces including Friction, Lubrication and Wear) Infrastructure Engineering
Research subject
Machine Elements; Structural Engineering
Identifiers
urn:nbn:se:ltu:diva-32063 (URN)66cfd730-c46d-11de-b769-000ea68e967b (Local ID)66cfd730-c46d-11de-b769-000ea68e967b (Archive number)66cfd730-c46d-11de-b769-000ea68e967b (OAI)
Conference
Annual meeting. Transportation Research Board (TRB) : 11/01/2009 - 15/01/2009
Projects
CASTT - Centre for Automotive Systems Technologies and Testing
Note
Godkänd; 2008; Bibliografisk uppgift: DVD-ROM; 20091029 (henand)Available from: 2016-09-30 Created: 2016-09-30 Last updated: 2018-01-14Bibliographically approved
Engström, N., Andrén, H., Larsson, R. & Fransson, L. (2009). Stop distances for ten studless winter tires (ed.). Paper presented at . Luleå: Luleå tekniska universitet
Open this publication in new window or tab >>Stop distances for ten studless winter tires
2009 (English)Report (Other academic)
Abstract [sv]

Denna rapport innehåller stoppsträckor för tio omgångar dubbfria vinterdäck. Arbetets huvudmål är att kunna skapa en grund för vinterdäcksklassificering. Så småning om skall traffikanter kunna få relevant information om olika däckens förmåga att skapa tillräckligt väggrepp på farliga vinterväglag. Vägverket ser ett ökat behov av kunskap då dubbdäcksanvändandet kommer att minskas i framtiden.

Place, publisher, year, edition, pages
Luleå: Luleå tekniska universitet, 2009. p. 43
Series
Technical report / Luleå University of Technology, ISSN 1402-1536
National Category
Tribology (Interacting Surfaces including Friction, Lubrication and Wear) Infrastructure Engineering
Research subject
Machine Elements; Structural Engineering
Identifiers
urn:nbn:se:ltu:diva-23574 (URN)78dfc440-bfda-11de-b769-000ea68e967b (Local ID)978-91-7439-041-4 (ISBN)78dfc440-bfda-11de-b769-000ea68e967b (Archive number)78dfc440-bfda-11de-b769-000ea68e967b (OAI)
Note
Godkänd; 2009; 20091023 (niceng)Available from: 2016-09-29 Created: 2016-09-29 Last updated: 2018-01-10Bibliographically approved
Engström, N., Andrén, H., Nybacka, M., Fransson, L. & Larsson, R. (2008). Road grip test in Arjeplog (ed.). Paper presented at . Luleå: Luleå tekniska universitet
Open this publication in new window or tab >>Road grip test in Arjeplog
Show others...
2008 (English)Report (Other academic)
Abstract [en]

The Swedish road administration sees a need to improve the road grip estimation capacity for the Swedish road system. The challenge is to find methods to measure road grip fast and reliable. There where six different system types at the tests in Arjeplog, three continuous, two system measuring road grip through deceleration and one system based on GPS and accelerometers. Two system types used air craft runway tires. The other systems used either studded winter tires or friction winter tires. Test runs where performed and road grip where recorded for three different surface types, old system 2000 ice, polished ice and new system 2000 ice. Weather data was collected during the three days. It is clear that all systems can detect changes in road grip. It is clear that continuous systems hold an information advantage over the sequence oriented systems. For measurements of road grip on winter roads, we recommend that rubber compounds adapted for cold conditions are used, as the resolution of the road grip measurement where better. In extreme condition like on polished ice, studded winter tires increase the road grip significantly.

Place, publisher, year, edition, pages
Luleå: Luleå tekniska universitet, 2008. p. 102
Series
Technical report / Luleå University of Technology, ISSN 1402-1536 ; 2008:17
National Category
Tribology (Interacting Surfaces including Friction, Lubrication and Wear) Other Engineering and Technologies not elsewhere specified Infrastructure Engineering
Research subject
Machine Elements; Functional Product Development; Structural Engineering
Identifiers
urn:nbn:se:ltu:diva-22273 (URN)23455950-9443-11dd-a897-000ea68e967b (Local ID)23455950-9443-11dd-a897-000ea68e967b (Archive number)23455950-9443-11dd-a897-000ea68e967b (OAI)
Projects
Intelligenta inlandsvägen, CASTT - Centre for Automotive Systems Technologies and Testing
Note
Godkänd; 2008; 20081007 (ysko)Available from: 2016-09-29 Created: 2016-09-29 Last updated: 2018-01-10Bibliographically approved
Nybacka, M., Larsson, T., Jeppsson, P., Ågren, A., Karlsson, L., Rantatalo, M., . . . Tingvall, B. (2007). Project: CASTT - Centre for Automotive Systems Technologies and Testing. Paper presented at .
Open this publication in new window or tab >>Project: CASTT - Centre for Automotive Systems Technologies and Testing
Show others...
2007 (Swedish)Other (Other (popular science, discussion, etc.))
Abstract [sv]

Through the Centre for Automotive Systems Technologies and Testing, Luleå University of Technology aims to first of all support automotive winter testing in Northern Sweden. This means to support the local automotive test entrepreneurs and through them their customers: the car manufacturers and their suppliers. To succeed in this task, the center relies on the university's areas of leading research and most importantly on the cooperation between those areas.

National Category
Other Engineering and Technologies not elsewhere specified Other Mechanical Engineering Fluid Mechanics and Acoustics Other Civil Engineering Embedded Systems Tribology (Interacting Surfaces including Friction, Lubrication and Wear)
Research subject
Functional Product Development; Computer Aided Design; Engineering Acoustics; Operation and Maintenance; Embedded System; Machine Elements
Identifiers
urn:nbn:se:ltu:diva-36169 (URN)93b31871-142c-4c9c-b686-2f1d79c77faa (Local ID)93b31871-142c-4c9c-b686-2f1d79c77faa (Archive number)93b31871-142c-4c9c-b686-2f1d79c77faa (OAI)
Note

Belopp: 7 000 000,00 Euro; Publikationer: Road surface information system; Using Timber in a multi-body design environment to develop reliable embedded software; Collaboration in winter vehicle testing: real-time simulations boosting innovation opportunities; Distributed real-time vehicle validation; Vehicle validation visualization; Distribuerad simulering och visualisering av fordonsdynamik i realtid; snowBOTS: a mobile robot on snow covered ice; Analysis of replication casting of ice surfaces; Opportunities in automotive winter testing; Slippery road detection by using different methods of polarised light; Road grip test in Arjeplog; Demonstration of multi gas exhaust measurements during cold start conditions; AVL-DRIVE pre-study report; Exploring technologies for service provision in automotive winter testing; snowBOTs: Gyro guided steering of a teleoperated tractor during winter conditions; Navigation sensors for mobile robots; Circle sector expansions for on-line exploration; Signature graphs for effective localization; An autonomous vehicle for a RobotDay; A comprehensive approach to design of embedded real-time software for controlling mechanical systems; A distributed engine management system for formula SAE; Comprehensive reactive real-time programming; Embedded real-time software using TinyTimber: reactive objects in C; FIFO WiDOM: timely control over wireless links; IP over CAN: transparent vehicular to infrastructure access; TinyTimber, reactive objects in C for real-time embedded systems; Casting with a binary polymer in order to map ice surfaces; Discrepancies between longitudinal high slip and lateral low slip friction measurements on prepared ice surfaces: Paper and poster; Polarization resolved classification of winter road condition in the near-infrared region; Evaluation of tyre to road friction estimators: test methods and metrics; Angular spectral response from covered asphalt; Classification of road conditions - to improve safety; Prospective service innovation in automotive testing: beyond distributed technology; Measurements of variations in binaural transfer functions caused by displacements of sources and receivers; Examination of the variability between artificial head recordings made in different cars of the same brand and model; Renewing industry cluster developments through interregional university-industry pipelines and sensemaking; Platform independent system integration; Model development for auralization of interior tyre noise; An ad-hoc bluetooth sensor network for automotive testing; Assessment of changes in automotive sounds caused by displacements of source and listening positions; An auralization model for structure borne tyre noise based on operational data; Methods for road texture estimation using vehicle measurements; Range data in vehicle dynamic simulation; Winter test of ABD steering robot; Development of a drive cycle simulation model for hybrid powertrains; Enabling cloud-connectivity for mobile internet of things applications; Stud noise auralization; Determination of radiated sound power from an electric rear axle drive in-situ and its contribution to interior noise; Prominence of tones in electric vehicle interior noise; Mobility measurement in six DOFs applied to the hub of a car; Automotive winter testing with path-following steering robot; Evaluating ride comfort for wheelchair passengers utilizing a motionbase simulator.; A new test track for automotive squeak and rattle (S&R) detection; The influence of the acoustic transfer functions on the estimated interior noise from an electric rear axle drive; Auralization of structure-borne tire noise; Road surface status classification using spectral analysis of NIR camera images; Simplified model for light scattering from granular materials with varying moisture content; Investigation of ice surface change during vehicle testing; Model-based winter road classification; A measurement study of predicting throughput from LQI and RSSI; A measurement study for predicting throughput from LQI and RSSI; Cognitive load-control for congested Wireless Sensor Network channels; Comparison of wireless network simulators with multihop wireless network testbed in corridor environment; Sound quality evaluation of electric cars: preferences and influence of the test environment; Intelligent Road; An auralization model for structure-borne tire noise; Prominence of Different Directions of Hub Forces and Moments in Structure-Borne Tire Noise; Aktiviteter: Robotförare testas i Malå; Robotar är heta i kalla biltesterg; Status: Ongoing; Period: 17/12/2010 → …

Available from: 2016-09-30 Created: 2016-09-30 Last updated: 2018-01-14Bibliographically approved
Organisations

Search in DiVA

Show all publications