SCCS Colloquium - May 13, 2020
|Date:||May 13, 2020|
|Room:||Online (Microsoft Teams)|
|Time:||15:00 - 16:00|
Special session - BGCE CSE 19/20: A High Performance Vehicle Dynamics Model for Autonomous Driving Simulation
Vehicle Dynamics Simulations are a crucial part of an autonomous driving framework. Typically, these are performed using commercial Multibody Dynamics (MBD) packages, which have unacceptable performance for a real-time application. This project focused on tackling this problem through the development of a high-performance vehicle dynamics simulation tool.
The developed tool is based on the Arbitrary Lagrangian-Eulerian (ALE) formulation implemented using high-performance libraries like Intel MKL and Eigen. The tool also contains an MBD implementation using these libraries for benchmarking purposes. It also provides the flexibility to use several time integration schemes. These schemes were tested and compared in terms of accuracy and performance.
The designed ALE model provides the flexibility to simulate general road profiles and is capable of handling a non-analytical formulation of non-rigid components of the vehicle. Further, the model offers the flexibility to use a non-analytic external field resulting in generalization comparable to an MBD formulation.
This work demonstrates the capability of the model by simulating the case of an arbitrary road profile. A performance improvement of about five times was observed as compared to the MBD benchmark.
Keywords: Vehicle Dynamics, Multibody Dynamics, Arbitrary Lagrangian-Eulerian