Vehicle System Dynamics
Vehicle System Dynamics
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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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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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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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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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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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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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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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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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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 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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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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