Conference article

A Driver Model for Virtual Drivetrain Endurance Testing

Tilman Bünte
German Aerospace Center (DLR), Institute of Robotics and Mechatronics, Germany

Emmanuel Chrisofakis
Daimler AG, Germany

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Published in: Proceedings of the 8th International Modelica Conference; March 20th-22nd; Technical Univeristy; Dresden; Germany

Linköping Electronic Conference Proceedings 63:21, p. 180-188

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Published: 2011-06-30

ISBN: 978-91-7393-096-3

ISSN: 1650-3686 (print), 1650-3740 (online)


Starting from an assumed vehicle path on a given road section we derive the formulae for the calcula-tion of an appropriate reference speed profile tabled over road arc length. Together with a speed error feedback we thus emulate what a real driver does while driving and scheduling his actions on throttle and brake pedal. The resulting driver model may be used for automatic speed control in vehicle dynamics simulation. The application addressed here is soft-ware in the loop simulation for virtual drivetrain en-durance testing at Daimler AG. A prototypical Mod-elica implementation was made at DLR and tested with a simple longitudinal vehicle dynamics model. Finally; we discuss the experiences with the refer-ence speed profiles made in the industrial practice.


Driver model; automatic gearbox testing; reference vehicle speed profile; software in the loop (SiL); virtual drivetrain endurance testing


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