Interdisciplinary Training Network in Multi-Actuated Ground Vehicles

Projektinformationen

ITEAM

ID Finanzhilfevereinbarung: 675999

DOI

10.3030/675999

Projekt abgeschlossen

EK-Unterschriftsdatum 17 Juli 2015

Startdatum 1 Januar 2016

Enddatum 31 Dezember 2019

Finanziert unter

• EXCELLENT SCIENCE - Marie Skłodowska-Curie Actions

Gesamtkosten

€ 3 833 413,20

EU-Beitrag

€ 3 833 413,20

Koordiniert durch

TECHNISCHE UNIVERSITAET ILMENAU
Germany

Periodic Reporting for period 2 - ITEAM (Interdisciplinary Training Network in Multi-Actuated Ground Vehicles)

Berichtszeitraum: 2018-01-01 bis 2019-12-31

Zusammenfassung vom Kontext und den Gesamtzielen des Projekts

"The ITEAM network is aimed at establishing and sustainably maintaining the European training network with high grade of interdisciplinarity by training strong specialists to research and develop cutting-edge technologies in the field of multi-actuated ground vehicle (MAGV). In this framework, the ITEAM consortium sets out to foster the development of new hardware and software solutions to enhance the driving performance, to improve the vehicle safety and to reduce the pollutants emissions. In concert with the research goals, the consortium also provides a sound and effective collaboration between the academia and industry in order to improve the career perspectives of the talented graduates.
Distinctive feature of the ITEAM network is the concept of interaction of three research clusters: ""MAGV integration"", mainly aimed at developing subsystems for active control of the chassis and the powertrain; ""Green MAGV"", focused on the development of innovative solutions to improve the efficiency and to reduce the emissions of MAGV; ""MAGV Driving Environment"" that deals with the realisation of semi-autonomous and fully automated driving of MAGV. In particular, the research effort involved in three clusters stems from fifteen individual projects carried out by early-stage researchers (ESRs). All the ESRs were trained in the domains of control engineering and computational intelligence, vehicle dynamics and human machine interface, assessment of the proposed engineering solutions by means of the development of virtual and real testing facilities for MAGV.
To achieve the project objectives, the consortium draws upon 11 beneficiaries and 8 partner organisations. The ITEAM participants have put together an efficient research and training network characterised both by harmonious partners' complementarity and synergetic cooperation in terms of development of MAGV innovations."

Arbeit, die ab Beginn des Projekts bis zum Ende des durch den Bericht erfassten Berichtszeitraums geleistet wurde, und die wichtigsten bis dahin erzielten Ergebnisse

The work performed in the ITEAM network ranges among applicative research in the fields of vehicle dynamics control, advanced driver assistance systems (ADAS), autonomous driving (AD) and human machine interface (HMI) and can be summarised as follows:
(i) Methodologies for designing automotive active chassis systems, which control functions are optimised by the criteria of driving safety, energy efficiency, driving comfort, and overall vehicle dynamics;
(ii) Holistic approach dedicated to the application of computational intelligence methods (e.g. machine learning, fuzzy logical, artificial neuronal networks, etc.) to the on-board MAGV controllers with particular focus on advanced driver assistance systems (ADAS) and automated driving functions;
(iii) Real-time versions of the vehicle dynamics models for the implementation in on-board MAGV controllers;
(iv) Integrated models reflection the interaction of the MAGVs with driving environment and various road users;
(v) Co-simulation techniques required for real-time cooperation of the models created in different software tools; these techniques were developed in ITEAM for both pure software-in-the-loop and complex hardware-in-the-loop tests;
(vi) Upgraded vehicle demonstrators, i.e. an electric vehicle with individual electric motors, small fleet of automated vehicles, a sport utility vehicle with integrated vehicle dynamics control functionality;
(vii) Several driving simulators, including variants with moving hexapod-based vehicle platforms;
(viii) Hardware-in-the-loop test rigs and component test setups, in particular, for steering system, wheel slip control, suspension elements, on-board controllers, power electronics.

Fortschritte, die über den aktuellen Stand der Technik hinausgehen und voraussichtliche potenzielle Auswirkungen (einschließlich der bis dato erzielten sozioökonomischen Auswirkungen und weiter gefassten gesellschaftlichen Auswirkungen des Projekts)

The ITEAM network produced a set of novel state estimation tools and controllers related to:
(i) Sliding-mode-based optimal vehicle dynamics controllers;
(ii) Virtual sensors for estimation of wheel forces and road friction;
(iii) Brake friction estimators;
(iv) Feedback controllers of steering systems;
(v) Robust and fuzzy controllers of electric vehicle propulsion systems.

Further the ITEAM consortium proposed several innovative solutions for the driver assistance systems and automated vehicles, which are related to
(i) Drift control for highly-skilled autonomous vehicles;
(ii) Shared driving control between human and autonomous driving system;
(iii) In-vehicle information system for the driver distraction evaluation;
(iv) Learning- and search-based optimal motion planning for automated driving;
(v) Fault-tolerant power distribution methods in electrified automated vehicles;
(vi) Pedestrian-in-the-loop technologies for the validation of automated driving functions with the use of advanced testing technologies as augmented reality and flying drones;
(vii) Scenario extraction using deep learning from recorded data.

The listed outcomes have been properly validated by the ESRs and consortium staff through intensive experimental activities at different hosts and using different testing and measurement techniques. The elaborated ITEAM network topics have a remarkable grade of interdisciplinarity towards the development and implementation of cutting-edge solutions for MAGVs as control objects with fundamentally new level of complexity.

Knowledge transfer and experience sharing between participants from academic and non-academic sectors is ensured to create innovative products in the field of ground vehicle engineering based on the know-how of partners in automotive control systems, vehicle dynamics, ADAS and experimental techniques. The strong networking between academia and partners from industrial and private sector was a crucial factor for the real-world implementation of the ITEAM engineering solutions.

On-Line Identification of the tyre-road friction characteristic curve

ITEAM Logo

The structure of Human-Machine-Interface controller

Test setup for studies on power distribution concepts in electric vehicles

Closed-loop haptic feedback control design of Electric Power Assisted Steering

The EPAS HIL architecture with power pack and driver in the loop

Concept car of KU Leuven for development and validation of controllers and estimation tools

The brake controller

Framework for model based virtual sensor for vehicle velocities, tyre forces and road angles

A human centric shared high-level driving control system