The impact of tire simulation approaches on the longitudinal vehicle shuffle in a cyberphysical environment

The increasing complexity of driving functions at the overall vehicle level leads to high requirements for validating them. To shorten this process, it is necessary to validate the overall vehicle properties at the hardware level of the subsystem, which becomes a cyberphysical prototype in a hardware-in-the-loop (HiL) environment. With a focus on the longitudinal vehicle shuffle characteristics, the influence of the side shafts and tires is particularly dominant. The latter can be represented by a large number of available tire models, which are known through full-simulative vehicle approaches. However, a comprehensive overview of their use and scientific analysis of the influences on the cyberphysical specimen and the measurement results is lacking. These are fundamental as a basis for enabling validation of the powertrain subsystem. To evaluate this influence of tire models on the cyberphysical specimen on the HiL, various models with different degrees of abstraction are run, with the focus on full vehicle shuffle characteristics. The results show a significant influence of the tire models on the damping behaviour of the oscillation. Increasing slip values results in a higher damping influence of the longitudinal vehicle shuffle. The natural vehicle shuffle frequency is only insignificantly influenced. The impacts on the shuffle align with the findings from the literature, taking into account a real full vehicle. Further investigations are needed to determine the latency of signal transmission between the HiL and vehicle simulation for highly dynamic manoeuvres, aiming to obtain more stable speed signals and thus achieve better quality results.