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

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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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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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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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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 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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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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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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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 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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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 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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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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