The paper investigates the importance of wheel-individual drive and brake systems for the development of vehicle dynamics control systems for automated road vehicles. Based on the findings from the Formula Student competition, system requirements for wheel-individual drives for automated driving are developed using the example of vehicles from the Munich University of Applied Sciences in the categories Electric (FSE) and Driverless (FSD). The conceptual system design as well as the technical implementation of the competition vehicles will be reported in detail. A further focus lies on software requirements and the structure of the control systems. Special aspects of safety and comfort in automated driving are discussed using the system description of the trajectory tracking control of the FSD vehicle. In addition, simulation results of driving operation are presented in order to show the safety gain due to the stability reserve set by means of continuous wheel-individual drive and brake control.
Wheel individual longitudinal control systems
Proceedings
2021-06-15
15 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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