A novel combined wheel slip control and torque blending approach was tested during another measuring campaign at DEKRA’s testing facility. The method based on model predictive control had been designed and simulated before and was now tested on the ROboMObil under real world conditions. Therefore, braking manoeuvres on split friction surface (“mu-split braking”) were carried out. Results with and without superordinate yaw dynamics control were compared. Finally, the controller was tested in an ABS braking scenario on very low friction uniform surface, comparable with braking on sheet ice.
Impressions of the testing facility: