Motion Control & Safe Halt of Automated Vehicles
Driverless autonomous vehicles independently perceive their environment, interpret traffic situations, and plan the desired course of the future trajectory. This target trajectory is usually tracked with front-wheel steering as well as brake and engine torque demands. But how is this done if the vehicle has four independent wheel modules with independent actuators? An extremely high maneuverability can be achieved through the resolution of forced couplings, but new control concepts must be developed to enable reliable motion control, which also requires a reliable and highly accurate provision of information of the is-state variables.
As driverless vehicles have no human fallback level to fulfill the driving task, a new fallback level is to be developed that replaces human intervention and strives for a risk-minimized state, such as stopping at the roadside, for example.
Research questions hereby are what distinguishes a safe state for a vehicle in a special situation, with which transition this state can be optimally achieved, how a generic architecture of such a system can look like, and what further information is required to execute a stopping maneuver.
This topic is researched in the course of a cooperation between the institutes of automotive engineering (FZD) and physical geodesy and satellite geodesy (PSG) of TU Darmstadt, as well as the iMAR GmbH in the course of the publicly funded project UNICARagil.