Project Details
Projekt
Robust driving control for automated vehicles close to driving limits
Subject Area
Automation, Mechatronics, Control Systems, Intelligent Technical Systems, Robotics
Term
since 2021
Project identifier
Deutsche Forschungsgemeinschaft (DFG) - Project number 469341384
Vehicle dynamics control is a central function of automated vehicles. The relevant effects can be divided into position and speed dynamics as well as longitudinal and lateral dynamics. Previous approaches consider these as largely decoupled or implicitly decouple them. In the present project, these aspects will be explicitly considered together and a novel vehicle dynamics control system for automated vehicles will be developed. In particular, situations in the vehicle dynamic limit range as well as the robustness against model uncertainties and external disturbances are to be considered. The aim is to extend the application range of existing vehicle dynamics control systems to increase the driving safety and the degree of autonomy of automated vehicles. At the beginning of the project, a methodology for the evaluation of control systems in challenging driving dynamics situations will be developed. Based on data from a test vehicle, existing vehicle dynamics models will be parameterized and validated. In a second step, a nonlinear controller is to be designed that takes the mentioned partial dynamics into account in a joint design. This serves as a basis for the design of a robust model-predictive controller using Tube-MPC. The system should guarantee, for limited uncertainties, the compliance with the boundary conditions derived from the drivable area (Figure 1). In particular, suitable uncertainty models are to be developed and a real-time capable variant is to be implemented on a hardware-in-the-loop test bench. Finally, the performance of the concept is evaluated with the developed evaluation methods in comparison to existing control concepts.
DFG Programme
Research Grants
