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Confidential | GS/ESC | 06/11/2014 | Robert Bosch GmbH 2014. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights. Coasting in WLTP/Bosch Proposal Gasoline Systems Coasting in WLTP Bosch proposal WLTP-Coasting Task Force, 6.11.2014 Dr. Ansgar Christ Gasoline Systems, Advanced & System Engineering Customer safe comfortable clean and efficient Invented for life 1 WLTP-08-32e_annex Slide 2 Confidential | GS/ESC | 06/11/2014 | Robert Bosch GmbH 2014. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights. Coasting in WLTP/Bosch Proposal Gasoline Systems Agenda General outline of BOSCH proposal BOSCH Algorithm Calculation Sequence: Step-by-Step Post-Calculation & Corrections Sensitivity on Coasting Time Share Coasting Share Definition of Coastig Time Share & BOSCH real world results Operating Strategy Coasting impact on pollutant Emissions Time resolved fuel consumption State-of-the-art Proposal & Correction method Proof of Technology & Op. Strategy while TA Next Steps & Work Packages 2 Slide 3 Confidential | GS/ESC | 06/11/2014 | Robert Bosch GmbH 2014. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights. Coasting in WLTP/Bosch Proposal Gasoline Systems Methodology to determine Coasting Benefit Using same measurement of the vehicle on dyno according to WLTP type approval testing conditions Time resolved recording of fuel consumption necessary Identify periods with low power demands using a power threshold & mark these phases as Coasting periods. e.g. choose the power threshold so that Coasting time share matches real life. Subtract fuel consumption* for identified Coasting periods from the original fuel consumption General outline of BOSCH proposal: Coasting is applied virtually in phases with low engine power demands * Coasting w/ engine idling consumption at idle / Coasting w/ engine off zero 3 Slide 4 Confidential | GS/ESC | 06/11/2014 | Robert Bosch GmbH 2014. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights. Coasting in WLTP/Bosch Proposal Gasoline Systems Potential coasting events based on vehicle speed: calculate power needed for vehicle movement AccelerationP acc = m a v FrictionP fric = v * F fric P drv = P acc + P fric 4 Slide 5 Confidential | GS/ESC | 06/11/2014 | Robert Bosch GmbH 2014. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights. Coasting in WLTP/Bosch Proposal Gasoline Systems Calculation Sequence Measurement data vehicle parameter: mass, friction, vehicle speed fuel consumption (mass flow) Pre-Calculation vehicle driving power acceleration Restrict data points Vehicle speedin range Accelerationin range Limitations v min, v max a min, a max Limitations v min, v max a min, a max coasting time share t coast coasting time share t coast Determine Coasting Phases Identify data points i w/ vehicle power demand < power threshold calculate coasting time (sum of data points) time share reached? NO: increase power threshold Post-Calculation Replace fuel consumption of data points i w/ coasting w/ engine on idle consumption coasting w/ engine off zero consumption coasting benefit replaced fuel consumptions coasting benefit replaced fuel consumptions INPUT OUTPUT ALGORITHM idle consumption mf idle idle consumption mf idle 5 preset P threshold Slide 6 Confidential | GS/ESC | 06/11/2014 | Robert Bosch GmbH 2014. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights. Coasting in WLTP/Bosch Proposal Gasoline Systems Calculation Sequence: Post-Calculation Replacement of measured fuel mass flow mf i Coasting w/ engine on idle consumption mf idle Coasting w/ engine off zero consumption Idle Coasting (IDC) capable vehicle For all Coasting data points i: mf i is replaced with mf idle Overall Coasting Benefit: (mf i mf idle ) Start/Stop Coasting (SSC) capable vehicle Coasting events w/ engine on and engine off occur depending on implemented strategy (e.g. time delay before switching engine off) Distribution (t Eng On ) (t Eng Off ) necessary input data, e.g. 0.1 0.9based on BOSCH measurements Overall Coasting Benefit: (mf i mf SSC ); mf SSC = mf idle * (t Eng On ) / (t coast ) 6 Slide 7 Confidential | GS/ESC | 06/11/2014 | Robert Bosch GmbH 2014. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights. Coasting in WLTP/Bosch Proposal Gasoline Systems Calculation Sequence: Post-Calculation Additional Corrections Battery State-of-Charge (SOC) IDCalternator load in idle fuel consumption to be taken into account SSCcompensation of battery discharge during SSC periods Proposed Method: use average powernet load and efficiencies of alternator and storage electric energy use average efficiency of combustion engine (Willans approach) fuel mass values to be supplied for type approval authority subtract additional fuel from (uncorrected) coasting benefit Engine start and acceleration to target speed IDC, SSCfuel mass necessary for engine acceleration from idle to gearbox input speed SSCfuel mass necessary for engine start Proposed Method: use average number of coasting events per km (i.e. acceleration and reconnecting of engine) use additional fuel mass per coasting event values to be supplied for type approval authority subtract additional fuel from (uncorrected) coasting benefit 7 Slide 8 Confidential | GS/ESC | 06/11/2014 | Robert Bosch GmbH 2014. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights. Coasting in WLTP/Bosch Proposal Gasoline Systems P threshold = 2 kW 15% coasting time share 22% coasting time share P threshold = 6 kW IDC:3.6 g/km (2.4%) SSC:9.4 g/km (6.3%) IDC:3.6 g/km (2.4%) SSC:9.4 g/km (6.3%) IDC:9.6 g/km (6.4%) SSC:18 g/km (12.1%) IDC:9.6 g/km (6.4%) SSC:18 g/km (12.1%) Reference: WLTC measurement on test bench, Audi A3 1.4L TSI, MT6 8 Slide 9 BOSCH Operation Strategy as implemented in Bosch democars w/ Manual Transmission. No usage of predictive data (e.g. navigation, ACC, traffic, ). Coasting if conditions are fulfilled & as soon as driver releases gas pedal & no other pedal is pressed Confidential | GS/ESC | 06/11/2014 | Robert Bosch GmbH 2014. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights. Coasting in WLTP/Bosch Proposal Gasoline Systems Operating Strategy Coasting conditions 20 km/h < v_vehicle < ~140 km/h 1000 rpm < n_engine < 3500 rpm gear 2 = Coasting w/ eng. idling gear 3 = Coasting w/ eng. off Operating Concept gas=0 brake=0 clutch=0 open powertrain engine off or idle gas start/accelerate engine close powertrain brake close powertrain (overrun fuel cut off / recu) clutch start/accelerate engine clutch follows drivers intend & >0 0 0 0 0 1000 20003000 4000 5000 n_engine 0 50 100150 200 250 v_vehicle t=1s Operating Strategy can have influence on Coasting Share 9 Slide 10 Confidential | GS/ESC | 06/11/2014 | Robert Bosch GmbH 2014. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights. Coasting in WLTP/Bosch Proposal Gasoline Systems Coasting Share CO 2 Benefit in WLTC BOSCH Proposal: Variation of coasting time share variation of power threshold and resulting fuel benefit Reference: Data WLTC measurement on test bench, Audi A3 1.4L TSI, MT6 Time resolved fuel consumption measured by test bench equipment (sample rate1 Hz) P threshold =0.1 kW 1 kW 2 kW 3 kW 4 kW 6 kW 10 kW 10 Slide 11 Confidential | GS/ESC | 06/11/2014 | Robert Bosch GmbH 2014. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights. Coasting in WLTP/Bosch Proposal Gasoline Systems Coasting Share Definition of Coasting Time/Distance Share = phases with powertrain open incl. Change-of-Mind cases Based on total cycle duration with vehicle speed 0km/h for Coasting Time Share (CTS) or total driven distance of cycle for Coasting Distance Share (CDS) BOSCH conducted measurements to analyse Coasting CO2-benefit & share for some real world test cycles & for different vehicles Focus on compact class (Audi A3 1.4L DI t/c, 90W, 6-speed MT & Citroen C4, 1.5L TDI, 90kW, 5-speed MT) & lower middle class vehicles (VW Passat 1.4L DI t/c, 90kW, 7-speed DCT) FKFS cycle, representing statistical vehicle usage in Germany (EU), BOSCH internal Farmingtion Hills Cycle for USA Proband-studies & instructed professional drivers =0 Coasting indicated engine speed re-fire limit engine start engine off powertrain open SSC CoM Coasting Phase 11 Slide 12 Confidential | GS/ESC | 06/11/2014 | Robert Bosch GmbH 2014. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights. Coasting in WLTC/Bosch Proposal Gasoline Systems FKFS real world driving route Typical German commuter cycle worked out w/ University Stuttgart for real-life CO 2 -benefit analyses with probands duration: 73min, length: 61km In use at BOSCH since 2002 Typical German commuter cycle worked out w/ University Stuttgart for real-life CO 2 -benefit analyses with probands duration: 73min, length: 61km In use at BOSCH since 2002 city out-of-city highway city out-of-city highway publication, 2011 [1]: annual mileage in Germany for passenger cars elevation above sea level [m] Distance [km] 260 m altitude profile [1] P. Rumbolz: Untersuchung der Fahrereinflsse auf den Energieverbrauch und die Potentiale von verbrauchsreduzierenden Verzgerungsassistenzfunktionen beim PkW, Dissertation, Universitt Stuttgart, 2013 FKFS road share routing 12 Slide 13 Confidential | GS/ESC | 06/11/2014 | Robert Bosch GmbH 2014. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights. Coasting in WLTC/Bosch Proposal Gasoline Systems Comparison: BOSCH real world vs. official cycle Characteristic parameters & speed distribution of NEDC, WLTC and FKFS sources NEDC WLTC V5.3 FKFS Literature [1] [2] [3] BOSCH measurements* Distancekm11.0223.2661.3 Durations118018004325 Duration stop phase%24,813.410.8 max. speedkm/h120131.3124.24 average speed w/o stopskm/h44.653.857.2 average speed w/ stopskm/h33.646.551 max. average accelerationm/s1.051.673.83 max. average decelerationm/s-1.39-1.5-4.09 average accelerationm/s0.590.410.42 average decelerationm/s-0.79-0.44-0.41 Relative positive acceleration (RPA) kWs/ (kg*km) 0.11140.15240.155 * Audi A3 1.4L DI t/c 4cyl, 90W, 6-speed MT, average values for 16 probands, normal Coasting [1] G. Brunetti, L. Disar, M. Cisternino (General Motors Powertrain), R. Fuso, F. Millo (Politecnico di Torino): Development of a Stop & Start Sailing Activation Strategy for a Real-World Driving, 23rd Aachen Colloquium Automobile and Engine Technology, 2014 [3] H. Stevens: Homologation test cycles worldwide, Status of the WLTP, Green Global NCAP labelling / green scoring Workshop 30.04.2013, international Energy Agency (iea) [3] T.Barlow, S. Latham, I. McCrae, P. Boulter: A reference book of driving cycles for use in the measurement of road vehicle emissions, Version 3, Published Project Report PPR354, Department for Transport, UK, 2009 FKFS cycle characteristics comparable to WLTC 13 Slide 14 Confidential | GS/ESC | 06/11/2014 | Robert Bosch GmbH 2014. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights. Coasting in WLTC/Bosch Proposal Gasoline Systems Real world tests campaignvehicleroutedriver(s)instructions 2010 CO 2 challenge Max Coasting Benefit Audi A4, 2.0l TFSI, MT FKFS 28 drivers (Coasting CO 2 - Challenge, GS/NEstaff) w & w/o Coasting Challenge max. eco 2011 Coasting Share & Benefit of Average driver (probands). UX Study. VW Passat, 1.4l TSI, 7-speed DCT FKFS 23 drivers (randomly selected, GS staff) 11 test drivers for CO2 w/ calculated St/St base, 11+12 test drivers for Coast share only without instructions driving as usual 2011 Coasting Benefit of normal & max eco driving style (professional driver ) VW Passat, 1.4l TSI, 7-speed DCT FKFS professional driver different driving premises (4-5 cycles each) Base: normal w/o Coasting normal driving w/ Coasting eco driving w/ Coasting 2012/13 Realistic Coasting Share & Benefit of Average driver (probands). Reference for eCS components. UX-Study. Audi A3, 1.4l TSI, MT w/ eCS FKFS 25/16 test drivers (selected BOSCH staff. good mixture of age, gender, profession) without instructions driving as usual 2013 OEM Test of different driving styles. IDC vs. SSC (professional driver) Audi A3, 1.4l TSI, MT w/ eCS OEM real- life cycle (Paris) professional driver 3 different driving premises 1 cycle base + 1 cycle Coasting each normal w/ & w/o Coasting dynamic w/ & w/o Coasting eco w/ & w/o Coasting 2013 Coasting in US VW Passat, 1.4l TSI, 7-speed DCT Farmington Hills Route 20 drivers 7 drivers (out of above 20) without instructions driving as usual Instructed driving as usual 2014 Lastkollektiv & FKFS vs. LCM Comparison of different driving styles, variation of OP Strategy. Gasoline & diesel vehicle GS: Audi A3, 1.4l TSI, MT w/ eCS DS: Citroen C4 1.6l TDI, MT w/ eCS FKFS (ETC)LCM Selected drivers & professional drivers (DS staff) 3 different driving premises, 3 different operating strategies for C4 mostly only 1 cycle per variation 29 drives normal w/ Coasting dynamic w/ Coasting eco w/ Coasting 14 Slide 15 Confidential | GS/ESC | 06/11/2014 | Robert Bosch GmbH 2014. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights. Coasting in WLTP/Bosch Proposal Gasoline Systems Coasting Share: Representative average base value Average Coasting Time Share found: 25%* (=30% Coasting Distance Share) 17%...35% (FKFS, A3, probands, normal driving) & 3036% (FKFS, Passat, professional driver, normal driving), Average 22%** for Farmington Hill cycle (11%...56%) JRC Monograph: Porsche field data indicate 26% CTS Representative average base value for most vehicles & drivers Coasting time shares are based on driver statics and are used for the calculation of the CO2 benefit of coating technology Each Contracting Party may develop its own coasting time share(s) based on regional data. * Base: BOSCH Operating Strategy, based on total cycle time/distance with powertrain open until engine re-start @vehicle speed 0km/h ** VW Passat with DCT 25% CTS assumed to be representative base (for BOSCH strategy) Operating strategy has to be considered in algorithm 25% CTS assumed to be representative base (for BOSCH strategy) Operating strategy has to be considered in algorithm 15 Slide 16 Confidential | GS/ESC | 06/11/2014 | Robert Bosch GmbH 2014. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights. Coasting in WLTP/Bosch Proposal Gasoline Systems Coasting impact on pollutant Emissions For coasting systems the situation is similar as for current Start/Stop systems We assume that coasting will only be enabled if the exhaust after-treatment system has reached its operating conditions, e.g. warmed up TWC For IDC during coasting the engine emits idle emissions as during normal idle phases no engine restart necessary For SSC (similar as for Start/Stop systems) during coasting the ICE is switched off, without emissions engine restart necessary, but due to the short duration of coasting phases (mostly between X and 10 seconds) no air flow through stopped engine (very little cooling of engine and aftertreatment system) (different to fuel cut-off air with air flow) no or only a very small effect on emissions after an ICE-off-phase is expected Our base vehicle features Start/Stop and we did not determine relevant emission differences between Start/Stop and non-Start/Stop operation Emissions could be measured during the proposed coasting verification test 16 Slide 17 Confidential | GS/ESC | 06/11/2014 | Robert Bosch GmbH 2014. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights. Coasting in WLTP/Bosch Proposal Gasoline Systems Coasting impact on pollutant Emissions Measurements conducted on dyno, Bosch Schwieberdingen in 2012 FTP75 (Vehicles with EU calibration!) or NEDC Start/Stop (base), (IDC), SSC Coasting with OptiCoast (using tolerance band to generate speed curve with coasting phases) Vehicles Passat 1.4 TSI, Audi A3 1.4 TSI CLS 3.5L DI, gasoline Audi A3 2.0 TDI Measured HC, NOx, CO, (PM), (CO2), (NMHC) 1 3 test(s) per configuration Result: No obvious/significant change of emission due to Coasting 17 Slide 18 Confidential | GS/ESC | 06/11/2014 | Robert Bosch GmbH 2014. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights. Coasting in WLTP/Bosch Proposal Gasoline Systems Time resolved fuel consumption BOSCH proposal needs a method to measure time resolved fuel consumption Overview of possible ways to determine actual fuel consumption of vehicles: direct measurements of fuel flow? correlation with exhaust gas measurement model of fuel injection (injection time, flow characteristic, ) External exhaust gas measurement and calculating with model is state-of-the-art 18 Slide 19 Confidential | GS/ESC | 06/11/2014 | Robert Bosch GmbH 2014. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights. Coasting in WLTP/Bosch Proposal Gasoline Systems Time resolved fuel consumption State-of-the-art exhaust gas methods ECE R83: cumulative exhaust gas analyses (bag) using a full-flow exhaust dilution system (Constant Volume Sampler), accuracy +/-2% Continuous time resolved (modal) exhaust gas sampling Usage simultaneously with type approval bag-measurements is not regulated. BOSCH analyses: same accuracy as bag-method further improvements to be checked (internal study on-going) sampling frequency about 1Hz, tail-pipe measure delay between actual consumption and engine operating point to be considered Portable Emission Measurement Systems (PEMS) HDV-regulation (EC) 595/2009, RDE for LDV under development Industry standard available? DIN, VDA, SAE? OBD On-board diagnostics PID Parameter IDs HDV Heavy Duty VehicleCAN (Controller Area Network) LDV Light Duty VehicleRDE Real Driving Emissions 19 Slide 20 Confidential | GS/ESC | 06/11/2014 | Robert Bosch GmbH 2014. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights. Coasting in WLTP/Bosch Proposal Gasoline Systems Time resolved fuel consumption State-of-the-art ECU based methods Engine control unit (ECU) calculates consumption based on injection model frequency: 100ms, no delay between actual consumption and engine operating point Available on CAN bus in most vehicles, not standardized SAEJ1979DA: some consumption related values (PIDs) available via OBD-Interface for some diesel vehicles (esp. HD) mandatory, e.g. PID$5E Engine Fuel Rate 0.05 L/h per bit, PID$9D Engine Fuel Rate 0.02 g/s per bit, PID$A2 Cylinder Fuel Rate 0.03125 mg/stoke per bit OBD bus rate can vary depending on traffic but alwaysv_min const. accel. engine speed PT open gas pedal end coast phase! gear t_delay_PT until transmission open t_delay_idle until engine speed =idle t_idle engine speed =idle t_eo time engine off 23 Slide 24 Confidential | GS/ESC | 06/11/2014 | Robert Bosch GmbH 2014. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights. Coasting in WLTP/Bosch Proposal Gasoline Systems Next Steps / Work Packages WP Time resolved fuel consumption WP Proof of Technology & Op. Strategy 24 Slide 25 Confidential | GS/ESC | 06/11/2014 | Robert Bosch GmbH 2014. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights. Coasting in WLTP/Bosch Proposal Gasoline Systems WP Time resolved fuel consumption Decision on most promising procedure Formulate regulation for modal exhaust gas measurement & discuss with SAEJ1979 working group to set necessary PIDs to mandatory or optional for Coasting vehicles OR formulate regulation for modal exhaust gas measurement Decision/commitment of WLTP-TP members for further procedure necessary 25 Slide 26 Confidential | GS/ESC | 06/11/2014 | Robert Bosch GmbH 2014. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights. Coasting in WLTP/Bosch Proposal Gasoline Systems WP Proof of Technology & Op. Strategy Work out suitable speed profile Define measured variables Formulate regulation for PT_open & discuss with SAEJ1979 working group to set necessary PIDs to mandatory or optional for Coasting vehicles Decision/commitment of WLTP-TP members for further procedure necessary 26