The last decade has shown an increasing interest on advanced driver assistance systems (ADAS) based on shared control, where automation is continuously supporting the driver at the control level with an adaptive authority. A first look at the literature offers two main research directions: 1) an ongoing effort to advance the theoretical comprehension of shared control, and 2) a diversity of automotive system applications with an increasing number of works in recent years. Yet, a global synthesis on these efforts is not available. To this end, this article covers the complete field of shared control in automated vehicles with an emphasis on these aspects: 1) concept, 2) categories, 3) algorithms, and 4) status of technology. Articles from the literature are classified in theory- and application-oriented contributions. From these, a clear distinction is found between coupled and uncoupled shared control. Also, model-based and model-free algorithms from these two categories are evaluated separately with a focus on systems using the steering wheel as the control interface. Model-based controllers tested by at least one real driver are tabulated to evaluate the performance of such systems. Results show that the inclusion of a driver model helps to reduce the conflicts at the steering. Also, variables such as driver state, driver effort, and safety indicators have a high impact on the calculation of the authority. Concerning the evaluation, driver-in-the-loop simulators are the most common platforms, with few works performed in real vehicles. Implementation in experimental vehicles is expected in the upcoming years.

Squeeze film dampers (SFDs) reduce vibrations and aid in suppressing instabilities in high performance rotor-bearing systems. However, air ingestion and entrapment, pervasive in open-ended dampers with low supply pressures, leads to a bubbly lubricant that severely reduces the dynamic film forces and the overall damping capability. Analyses based on conventional film rupture models, vapor or gaseous lubricant cavitation, fail to predict the actual performance of SFDs, and thus lack credibility in engineering practice. A modified Reynolds equation for prediction of the pressure in a homogeneous bubbly mixture flow is advanced along with an empirical formula for estimation of the amount of air entrained in an open-ended damper. Careful experimentation in a test SFD operating with controlled bubbly mixtures and freely entrained air evidenced similar physical behavior, guided the analytical developments, and provided the basis for validation of the model forwarded. Comparisons of predictions and test results show a fair correlation. A simple equation to predict the amount of air ingestion is also advanced in terms of the damper geometry, supplied flow and operating conditions. The criterion may lack practical implementation since the persistence of air entrainment increases with the frequency and amplitude of journal motions, unless enough lubricant is supplied at all operating conditions.

Rotor-bearing systems supported on squeeze film dampers (SFDs) show large amplitude vibratory motions when traversing critical speeds. At these operating conditions air is drawn into the damper thin film clearance generating a bubbly mixture with the lubricant and producing SFD forces not readily predictable with currently available analysis. A continuum model is proposed for describing the motion of a bubbly fluid in an open ended SFD operating with circular centered journal orbits. Computed predictions for peak-peak dynamic pressures and fluid film forces agree reasonably well with experimental measurements conducted on a SFD test rig operating with a controlled air in oil mixture. The bubbly flow model provides an initial procedure towards the reliable design of SFDs in actual operating conditions. [S0742-4787(00)02601-1]

Measurements of dynamic film pressures and high-speed photographs of the flow field in an open-ended Squeeze Film Damper (SFD) operating with natural free air entrainment are presented for increasing whirl frequencies (8.33–50 Hz), and a range of feed pressures to 250 kPa (37 psig). The flow conditions range from lubricant starvation (air ingestion) to a fully flooded discharge operation. The test dynamic pressures and video recordings show that air entrainment leads to large and irregular gas fingering and striation patterns. This is a natural phenomenon in SFDs operating with low levels of external pressurization (reduced lubricant through flow rates). Air ingestion and entrapment becomes more prevalent as the whirl frequency raises, and increasing the feed pressure aids little to ameliorate the loss in dynamic forced performance. As a result of the severity of air entrainment, experimentally estimated damping forces decrease steadily as the whirl frequency (operating speed) increases.

The low-speed high automation (LSHA) is foreseen as a development path for new types of mobility, improving road safety and addressing transit problems in urban infrastructures. As these automation approaches are still in the development phase, methods to improve their design and validation are required. The use of vehicle simulation models allows reducing significantly the time deployment on real test tracks, which would not consider all the scenarios or complexity related to automated driving features. However, to ensure safety and accuracy while evaluating the proper operation of LSHA features, adequate validation methodologies are mandatory. In this study a two-step validation methodology is proposed: Firstly, an open-loop test set attempts to tune the required vehicle simulation models using experimental data considering also the dynamics of the actuation devices required for vehicle automation. Secondly, a closed-loop test strives to validate the selected automated driving functionality based on test plans, also improving the vehicle dynamics response. To illustrate the methodology, a study case is proposed using an automated Renault Twizy. In the first step, the brake pedal and steering wheel actuators’ behavior is modeled, as well as its longitudinal dynamics and turning capacity. Then, in a second step, an LSHA functionality for Traffic Jam Assist based on a Model Predictive Control approach is evaluated and validated. Results demonstrate that the proposed methodology is capable not only to tune vehicle simulation models for automated driving development purposes but also to validate LSHA functionalities.