The developed technologies, together with other emerging trends such as Car2X vehicle communication systems, form the basis for advanced driver assistance systems (ADAS) and functions such as (automated) cooperative driving. A hierarchic classification of the research is presented in the following figure as layers of a pyramid forming the institute’s scalable vehicle dynamics control architecture.
This architecture supports multiple applications at the vehicle application layer (VAL) including interactive driving, remote control, and semi- or full autonomous driving to name a few. The institute’s research on motion planning includes artificial intelligence agents, online path planning (OPP), path following control (PFC), and cooperative vehicle-following control. In any case, VAL functionalities generate a kinematic motion demand for the three planar degrees of freedom: the horizontal motion (e.g., expressed by longitudinal acceleration, the yaw-rate, and the chassis side-slip angle) to be realized on the motion execution layer below. At this layer, integrated vehicle dynamics control for the energy-efficient, robust, and safe operation of X-by-Wire electric vehicles is the most relevant research topic. Other relevant topics are a) vertical dynamics control using highly dynamic semi-active dampers, designed to mitigate the effects of the higher un-sprung mass introduced by in-wheel electric motors and b) hybrid braking control for electric motors in combination with friction brakes, in order to optimize the trade-off between energy recuperation and braking performance. At the hierarchical layer of actuator control, the research focuses on analysis and control enhancement of the X-by-Wire steering and braking actuators by means of a novel industry standard for model-based control on embedded systems.