Design of a Self-Balancing Vehicle As a Test Rig for Safety Control Strategies Investigations

The present paper is related to a research activity concerning selfbalancing vehicles, with particular reference to the interaction between driver and vehicle’s dynamics, at the aim to investigate safety management and strategies. In particular, the design process of a self-balancing vehicle with the target to be used as a test rig for safety investigations is presented. Besides the definition of the mechanical configuration, the design process includes also the choice of the motor/transmission unit, the design of the control system and the design of sensors related to vehicle/driver interaction. For design purposes, a simplified two degrees-offreedom (DOF) planar model has been considered with the driver fixed to the vehicle chassis. In order to test the suitability of the designed vehicle for safety investigations, a multibody model of the vehicle designed and of a driver with three driven joints is also presented. Such model allows to simulate the interaction between human (driver) and machine (vehicle), taking into consideration also the coupling between longitudinal motion and turn, and the presence of tires between vehicle and ground. By means of co-simulations between the multibody model (developed with ADAMS) and the controller (modeled with MATLAB/SIMULINK), tests have been performed showing the possibility to detect influence of the driver’s behavior on the vehicle’s dynamics.