Model-based control design for a highway pilot as well as its safety analysis and validation in a complete vehicle simulation

Environment

Ensuring the safety of automated motor vehicles, which rely on deep learning using multi-layer artificial neural networks, can be regarded as one of the key factors in their market launch. The challenge here is the systematic and methodical design, safety analysis and validation of control systems for the automated longitudinal and lateral guidance of these vehicles. In the development of such systems, the operational design domain and in particular its physical characteristics such as traffic, road or weather conditions play an increasingly important role. The dynamic behavior of the control loops over the longitudinal and transverse axis of the vehicle is heavily dependent on the specified operational domain. These physical effects must be identified when designing the vehicle's internal control systems and taken into account accordingly in a top-down approach.

The objective of this thesis is, on the one hand, the model-based and methodical design of a cascaded control loop architecture for the longitudinal and lateral control of an automated motor vehicle using the example of Highway Pilot. The control loop architecture will be designed using a hierarchical decomposition of the vehicle architecture. Subsequently, the subsystems derived from the decomposition are to be subjected to a control behavior analysis depending on the defined operating range (highway section). On the other hand, the designed control loop architecture is then to be integrated into an overall vehicle model with a simulated 3D environment, which represents the operating area of the highway section, and analyzed and validated in terms of safety using defined test scenarios. Finally, the applied model development methodology for the control loop design is to be evaluated.

The thesis can be completed either at Robert Bosch GmbH in Ludwigsburg or directly at ITIV.

Assignment

• Literature research on the state of the art in science and technology regarding the control of automated vehicles
• Model-based and methodical design of the longitudinal and lateral control loop architecture of a fully automated motor vehicle using the example of Highway Pilot with explicit consideration of the defined operating range (Matlab/Simulink)
• Commissioning and integration of the longitudinal and lateral control loop architecture into the overall vehicle simulation environment (IPG CarMaker)
• Safety analysis and validation of the longitudinal and lateral control loop architecture in the overall vehicle simulation environment (IPG CarMaker)
• Evaluation of the model development methodology for the design of the longitudinal and lateral control loop architecture
• The focus of the work can be adapted after consultation and depending on the interests of the student

Prerequisites

• Independent and structured way of working
• Knowledge of the control of multivariable systems and vehicle dynamics desirable
• Knowledge of Matlab/Simulink preferred and IPG CarMaker desirable
• Degree courses: Electrical engineering, mechatronics, mechanical engineering, computer science or similar.