Vehicle System Dynamics and Control
Vehicle System Dynamics and Control
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ROboMObil Timeline

The ROboMObil is DLR’s space-robotics driven-by-wire electro-mobile research platform for mechatronic actuators, vehicle dynamics control, human machine interfaces, AI-based and autonomous driving. Explore a more than ten-year timeline of research, hardware- and software-development. The potential of the ROboMObil is still being explored and the latest research results can always be found in our blog.

The ROboMObil’s innovative mechatronic chassis…

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The ROboMObil’s innovative mechatronic chassis is based on four identical Wheel Robots, each integrating a drive motor as well as braking, steering and damper systems. The operation of the Wheel Robots is coordinated by means of an intelligent central vehicle control. By virtue of the individual wheel steering, the ROboMObil exhibits an impressive manoeuvrability which even allows for driving sideways or rotating on the spot. This flexibility shows its full potential in urban or logistic contexts.

A ROboMObil Wheel Robot.

Research topics are methods and tools for modelling, simulation, and assessment of road vehicle dynamics as well as techniques for integrated chassis control and vehicle state estimation. These techniques are used, e.g., for a safe, precise and energy-efficient control of the ROboMObil’s motion. Further research activities comprise hybrid braking control for electric vehicles, which explores the use of real-time optimisation to exploit the combination of friction brake and electrical motor to improve the wheel slip control. Another research topic is the model based vertical dynamics control using semi-active dampers.

The ROboMObil can be operated fully manually, partially automated, or fully automatically. The vehicle’s desired motion can be commanded by the driver through a force-feedback sidestick with three degrees of freedom. Its path following control supports the latter modes by enabling the automatic following of a predefined path within constrained corridors.

Extended Maneuverability.

A platooning controller enables automated, safe following of preceding vehicles with a defined, speed dependent distance. Therefore, state information of the preceding vehicle is transmitted to the ROboMObil via Car2X communication.

Virtual Platooning.

Simulation tools play a central role for both the development and the validation of vehicle control functions. For this purpose, our virtual design and test environment provides complete detailed vehicle models using the object-oriented modelling language Modelica. In addition to multibody dynamics, these models also include sensors and electro-mechanical actuators. Hence, various domains, such as mechanics, electrics, and hydraulics, are combined in one model. Novel tool chains aim to automatically generate code for close-to-production electronic control units from the developed controllers.

In short, the ROboMObil provides a flexible platform for the research on integrated control and estimation algorithms for energy management and vehicle dynamics, together with the topics of autonomy and human-machine interfaces.

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Aug 14th 2009

Early design studies & innovation of the modular concept

Early design studies & innovation of the modular concept

In the beginning of the ROboMObil project different design concepts for the exterior representation of the vehicle were created. The design is reminiscent of the…

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Aug 17th 2009

Preparation of the mechanical suspension design

Preparation of the mechanical suspension design

The ROboMObil is an electro-mobility concept based on intelligent central control of four Wheel Robots, which integrate the drivetrain, brakes, steering and dampers. The Wheel…

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Feb 19th 2010

Manufacturing the ROboMObil’s body

Manufacturing the ROboMObil’s body

The reinforced carbonfiber body of the ROboMobil was manufactured based on the final design study. The underlying foam model was constructed first in CAD and…

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Apr 26th 2010

Alignment, measurements and undertaking ergonomic studies

Alignment, measurements and undertaking ergonomic studies

The monocoque structure of the ROboMObil was surveyed for the next production steps. The two identical axle modules which house the front and back double-wishbone…

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May 26th 2010

Chassis-to-body marriage and final assembly

Chassis-to-body marriage and final assembly

A special moment in every vehicle manufacturing process is the chassis-to-body marriage, in our case connecting the monocoque structure with the axle modules and the…

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Jun 4th 2010

Completion of the vehicle´s outer shell

Completion of the vehicle´s outer shell

The outer shell of the ROboMobil is made from carbon fiber reinforced plastics and covers the front and rear axle modules. It seamlessly connects to…

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Jul 15th 2010

Installing the high voltage battery

Installing the high voltage battery

The high voltage battery of the ROboMObil is a Li-ion battery with 90s1p cells and a nominal voltage of about 350 V. The battery pack…

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Oct 6th 2010

Finalising the sidestick´s position

Finalising the sidestick´s position

Final adjustments to the position of the sidestick inside the ROboMObil cockpit were applied considering the ergonomics of the driver. Additionally, the stick position was…

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Oct 14th 2010

ROboMObil´s first test drive with basic vehicle software

https://vsdc.de/wp-content/uploads/2021/12/2010-10_ROMO-Erstfahrt__1.mp4

The ROboMObil’s maiden trip proceeded smoothly with a basic operating software supporting manual feedforward control of the vehicle via sidestick. Driving in all motion modes…

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Nov 30th 2010

Designing the Human-Machine-Interface (HMI)

Designing the Human-Machine-Interface (HMI)

The ROboMObil in its manual or semi-autonomous modes, e.g. path following or automated parking, is controlled by the force feedback sidestick. Further input can be…

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Jan 25th 2011

Exploration of longitudinal dynamics on a roller test rig

https://vsdc.de/wp-content/uploads/2021/12/2011-01-25_ROMO-Rollenpruefstand__1.mp4

The vehicle’s electric drivetrain enables recuperation and thus offers a fast and energy-efficient braking actuator and is able to complement the operation of the traditional…

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Mar 4th 2011

ROboMObil´s gauging on a four-post test rig

https://vsdc.de/wp-content/uploads/2021/12/2011-03-02_ROMO-KW-post-rig__1.mp4

A first version of ROboMObil’s vertical dynamics controller was based on a nonlinear full vehicle model. The identification of the model was realized as a…

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Mar 8th 2011

Manufacture of the camera roof box

Manufacture of the camera roof box

A new camera roof box was manufactured using the original clay mold of the driver cabin to ensure a perfect fit. The roof box is…

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Mar 30th 2011

Publication of first high-class press pictures

Publication of first high-class press pictures

High-class press pictures of the finished research vehicle were taken on the DLR Oberpfaffenhofen site in front of and inside the TechLab, the laboratory where…

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Jul 2nd 2011

European Satellite Navigation Competition

https://vsdc.de/wp-content/uploads/2023/11/2011-07-European-Satellite-Navigation-Competition__1-CI.mp4

The ROboMObil was awarded with the Connected Vehicle Prototyping Prize of the European Satellite Navigation Competition for its cooperative road damage evasion application. The cooperative…

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May 4th 2012

Test drive on DLR airfield

Test drive on DLR airfield

The title image shows the ROboMObil in front of the hangar of DLR’s high altitude and long-range research aircraft (HALO). The movement area and the…

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Jun 26th 2012

Testing the steering mechanism on a steering test bench

https://vsdc.de/wp-content/uploads/2021/12/2012-05_ROMO-Lenksystempruefstand__1.mp4

The electro-mechanic steering assembly of the ROboMObil is a complex system consisting of a permanent magnet synchronous motor (PMSM), a strain wave gear (Harmonic Drive)…

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Sep 14th 2012

ILA Berlin Air Show 2012

https://vsdc.de/wp-content/uploads/2021/12/2012-09_ROMO_SGM-ILA__1.mp4

The ROboMObil was displayed in front of an international audience in the space pavilion of the ILA Berlin Air Show. Countless visitors and several politicians…

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Oct 9th 2012

eCarTec Award

eCarTec Award

The extremely convincing concept of the ROboMObil brought DLR the award as winner of the eCarTec Award 2012 in the category “Product Concept / Vision”….

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Jan 7th 2013

ROboMObil´s equipment with advanced semi-active dampers

ROboMObil´s equipment with advanced semi-active dampers

Measures were taken to facilitate later research on advanced vertical dynamics control concepts. The semi-active suspension system uses an external magnetic bypass valve to control…

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Feb 1st 2013

Conduction of braking test bench experiments

https://vsdc.de/wp-content/uploads/2021/12/2013-02_ROMO-braking-test-bench__1.mp4

The electro-hydraulic brake system of the ROboMObil is a complex system consisting of a permanent magnet synchronous motor (PMSM) and a ball screw mechanism actuating…

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Apr 24th 2013

Scientific evaluation by the Helmholtz Association

Scientific evaluation by the Helmholtz Association

The periodic scientific evaluation by the Helmholtz Association of German Research Centres (HGF) took place at the DLR headquarter in Cologne. A transportation themed pavilion…

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May 15th 2013

Invitation to Automobilwoche conference 2013

Invitation to Automobilwoche conference 2013

The ROboMObil was exposed upon invitation of the Automobilwoche newspaper at a self-hosted automotive conference in Munich.

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Oct 16th 2013

Vehicle dynamics test drive at ADAC Augsburg

https://vsdc.de/wp-content/uploads/2021/12/2013-10_ROMO-ADAC-Augsburg-VDC__1.mp4

Originating from the basic vehicle software as of Oct. 2010, as seen above, an advanced vehicle dynamics controller (VDC) was created in several development steps….

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Oct 21st 2013

Autonomous sideward parking based on image processing

https://vsdc.de/wp-content/uploads/2021/12/2013-09_ROMO-Autonomes-Einparken-HALO__1.mp4

Here, a novel autonomous parking concept for the four wheel-steerable robotic electric vehicle ROboMObil was presented. ROboMObil’s extraordinary manoeuvrability including rotations and lateral driving and…

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Feb 4th 2014

Four-post test rig

https://vsdc.de/wp-content/uploads/2021/12/2014-02_ROMO-Stempelpruefstand-KW__1.mp4

Semi-active suspensions offer a large potential to improve the trade-off between ride comfort and road-holding compared to passive suspensions. In order to exploit this potential,…

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Apr 7th 2014

Hannover Messe 2014

Hannover Messe 2014

During the Hannover Messe 2014 the ROboMObil was presented at the stand of the German Federal Ministry for Economic Affairs and Energy. Fair trade visitors…

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Jun 2nd 2014

Four-post test rig

https://vsdc.de/wp-content/uploads/2021/12/2014-06_ROMO-KW-post-rig__1.mp4

ROboMObil’s basic Sky-Hook/Ground-Hook controller was once again examined on a four-post test rig. The experiments and measurements led to further improved controller algorithms, thus leading…

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Jul 1st 2014

First path following control test drive

First path following control test drive

An advanced path following control strategy was designed. It enabled over-actuated robotic vehicles like the ROboMObil to automatically follow predefined paths while all states of…

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Jul 8th 2014

Vertical dynamics measuring campaign at DEKRA’s testing facility

https://vsdc.de/wp-content/uploads/2021/12/2014-07_ROMO-Messkampagne-DEKRA-Lausitzring_VertDyn__1.mp4

The final Sky-Hook/Ground-Hook (SH/GH) vertical dynamics controller was tested in a measuring campaign at DEKRA near EuroSpeedway Lausitz. This controller represents a good compromise between…

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Jul 8th 2014

Wheel slip control measuring campaign at DEKRA’s testing facility

https://vsdc.de/wp-content/uploads/2021/12/2014-07_ROMO-Messkampagne-DEKRA-Lausitzring_WSCTB__1.mp4

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…

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Jul 8th 2014

Obstacle avoidance measuring campaign at DEKRA’s testing facility

https://vsdc.de/wp-content/uploads/2021/12/2014-07_ROMO-Messkampagne-DEKRA-Lausitzring_AIA__1.mp4

A new reactive method for avoiding dynamic obstacles based on real-time optimization was tested. The ROboMObil is equipped with a monocular camera and dynamic obstacles…

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Jul 15th 2014

Wind tunnel aerodynamic survey

https://vsdc.de/wp-content/uploads/2021/12/2014-07_ROMO-Windkanal__1.mp4

Wind tunnels are used to replicate the interaction between air and an object moving along the ground. The ROboMObil was subjected to a comprehensive range…

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Sep 23rd 2014

Vehicle dynamics control test drive at ADAC Augsburg

https://vsdc.de/wp-content/uploads/2021/12/2014-09_ROMO-ADAC-Augsburg__1.mp4

The full vehicle dynamics controller was tested under different conditions at the ADAC testing ground in Augsburg. A special split friction round course made it…

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Oct 30th 2014

Wheel slip control and torque blending

https://vsdc.de/wp-content/uploads/2021/12/2014-10_ROMO-WSCTB-Testfahrt-HALO__1.mp4

A braking control algorithm for electric vehicles endowed with redundant actuators, i.e. friction brakes and wheel-individual electric motors was tested on the taxiway of the…

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Nov 7th 2014

Demonstration of path following control and wheel slip control at BMW Aschheim

https://vsdc.de/wp-content/uploads/2021/12/2014-11_ROMO-BMW-Aschheim__1.mp4

The ROboMObil demonstrated a path following controller and a model predictive braking control algorithm to the spectators at BMW’s testing facility in Aschheim near Munich….

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Mar 24th 2015

Path following control and wheel slip control test drive at ADAC Kempten

https://vsdc.de/wp-content/uploads/2021/12/2015-03_ROMO-ADAC-Kempten__1.mp4

Path following Control The proposed method enables the ROboMObil to automatically follow paths while the driver is free to control the velocity along the path…

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Apr 17th 2015

Demonstration for Porsche at ADAC Kempten

https://vsdc.de/wp-content/uploads/2021/12/2015-04_ROMO-Porsche-Demo-ADAC-Kempten__1.mp4

A testing campaign at ADAC testing ground in Kempten, compared the performance of three predictive braking control algorithms for the ROboMObil’s hybrid braking actuators, composed…

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Jul 7th 2015

Invitation to DEKRA Safety Day 2015

https://vsdc.de/wp-content/uploads/2021/12/2015-07_ROMO-Demo-DEKRA-Safety-Day__1.mp4

The ROboMObil was on display upon invitation of DEKRA. The ROboMObil was part of a showcase at the DEKRA Safety Day, an event with focus…

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Jul 8th 2015

Mounting large and narrow tires

Mounting large and narrow tires

The ROboMObil´s tires were exchanged with so-called large and narrow (L&N) tires. These tires are characterised by a reduced vertical stiffness, which leads to an…

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Jul 9th 2015

Path following control and online path planning measuring campaign at DEKRA’s testing facility

https://vsdc.de/wp-content/uploads/2021/12/2015-07_ROMO-Messkampagne-DEKRA-Lausitzring_PFC-OPP__1.mp4

Path following control Here, a geometric path following control strategy with demand supervision applied to the ROboMObil is described. The proposed method enables the ROboMObil…

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Jul 10th 2015

Vehicle dynamics control measuring campaign at DEKRA’s testing facility

https://vsdc.de/wp-content/uploads/2021/12/2015-07_ROMO-Messkampagne-DEKRA-Lausitzring_VDC__1.mp4

Within a measuring campaign at DEKRA Lausitzring several experiments were carried out regarding driving stability and safety. Among others, standardized driving manoeuvres such as steady-state…

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Jul 16th 2015

Reactive obstacle avoidance

https://vsdc.de/wp-content/uploads/2021/12/2015-07_ROMO-AIA-Ausweichen-HALO__1.mp4

The novel reactive method of avoiding dynamic obstacles by real-time optimization introduced before at the measuring campaign at DEKRA Lausitzring, was tested on the airfields…

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Sep 17th 2015

International Automobile Fair (IAA) 2015

International Automobile Fair (IAA) 2015

After participating in DEKRA Safety Day, the ROboMObil was on display hosted by the DEKRA exhibition booth at the International Mobility Show Germany (IAA) 2015…

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Jun 10th 2016

Simulation of ROboMObil on Robotic Motion Simulator

https://vsdc.de/wp-content/uploads/2021/12/2012-08_ROMO-Simulation-RMS__1.mp4

Robotic Motion Simulator In contrast to popular hexapod systems, the DLR Robotic Motion Simulator (RMS) employs an industrial robot combined with a linear axis and…

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Nov 23rd 2016

ROboMObil demonstration for DLR-SR institute audit

https://vsdc.de/wp-content/uploads/2021/12/2016-11_ROMO-Institutsueberpruefung__1.mp4

The ROboMobil was presented in the context of an DLR-internal audit of the institute SR. The venue was in front of the new Robotics and…

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Jul 12th 2017

Press appearance at EDMO airport

Press appearance at EDMO airport

The ROboMObil was presented to representatives of politics and media at the special-purpose airport Oberpfaffenhofen upon invitation of its new operating company (EDMO).

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Nov 17th 2017

Vehicle following control using Car2X communication

Vehicle following control using Car2X communication

A Vehicle Following Controller (VFC) with inputs from Car2X communication was tested on the ROboMObil. The VFC´s aim is to determine appropriate control actions for…

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Feb 20th 2018

Installation of a hydraulic handbrake

Installation of a hydraulic handbrake

The safety of the ROboMObil was further increased by an additional handbrake articulating the mechanical brake actuators at the rear axle. The handbrake constitutes a…

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Jul 26th 2018

Demonstration for Federal Minister Scheuer

Demonstration for Federal Minister Scheuer

Representatives from the Federal Ministry of Transport and Digital Infrastructure including Federal Minister Andreas Scheuer were invited to the Galileo Control Center at DLR Oberpfaffenhofen…

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Aug 30th 2018

Installation of LED safety light

Installation of LED safety light

The roof mounted safety lights act as indication of the ROboMObil state, e.g. showing whether the high voltage battery system or the traction motors are…

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Jan 16th 2019

Exhibition Simply Move at Munich Airport

Exhibition Simply Move at Munich Airport

Driving manoeuvre footage and different research topics around ROboMObil were presented on a display at the exhibition “Simply Move” at Munich Airport in Terminal 2.

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Apr 1st 2019

DLR campaign for bicycle safety

DLR campaign for bicycle safety

The ROboMObil was an active part of a promoting campaign for bicycle safety. Therefore, a poster had been designed to raise awareness for keeping the…

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Apr 3rd 2019

Cone detection and localisation using camera and LiDAR

Cone detection and localisation using camera and LiDAR

Automated driving is one of the key technologies for the future transportation sector. Therefore, the complete development chain from environment detection and motion planning up…

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