OPENSTEERING PLATFORM

Transcription

1 MDYNAMIX AFFILIATED INSTITUTE OF MUNICH UNIVERSITY OF APPLIED SCIENCES OPENSTEERING PLATFORM FOR DEVELOPMENT OF ADVANCED STEERING FUNCTIONS, ADAS AND AUTONOMOUS VEHICLES 9th International Munich Chassis Symposium, Matthias Becker, MdynamiX AG

2 AGENDA Motivation Open Steering Plattform Concept Components Use-Cases Steering Control ADAS Benefits Outlook Summary 2

3 MOTIVATION OPEN STEERING PLATFORM OEMs and independent research institutions developing Advanced steering functions Advanced driver assistance systems Autonomous driving solutions are often facing difficulties when evaluating new functions on steering system hardware due to:! F? Restricted/no access to steering system interfaces No ability to activate or deactivate steering functions Partly unknown functional structure of steering system Heterogenous structures from different part suppliers 3

4 OPEN STEERING PLATFORM CONCEPT Phase currents Custom power electronics 3 phase inverter Control output Steering system (from supplier) Sensor readings e.g. driver torque, shaft angles etc. Rapid Control Prototyping (RCP) unit: Open interfaces (HW & SW) 4

5 OPEN STEERING PLATFORM COMPONENTS EPS system Setup Expose EPS interfaces by decoupling ECU Identify EPS motor characteristics Identify sensor characteristics Calibrate sensors Interfaces Motor phases Motor encoder/resolver Torque sensor (torsion bar) Angle sensor Steering mechanics M EPS motor Sensors 5

6 OPEN STEERING PLATFORM COMPONENTS RCP unit Setup Sensor signal processing (basic software) Implement motor control (FOC) Custom steering functions BSW Basic software Motor control Interfaces Host-PC connection Vehicle bus Sensor input Power stage control output Custom interfaces Steering functions 6

7 OPEN STEERING PLATFORM COMPONENTS Power electronics Setup Calibration Fit to motor and RCP unit Interfaces DC bus input (battery) Power stage control input Phase current output Current and voltage sensing 7

8 USE-CASES FOR THE OPEN STEERING PLATFORM Applications where steering actuation is needed but not (yet) accessible Steering functions New control strategies Overlayed steering feel Hands-Off behavior ADAS Lane Keeping Systems Parking Assistants Emergency Obstacle Avoidance Autonomous driving 8

9 USE-CASES: STEERING CONTROL Steering Control Strategy Driver Steering System Mechanical HW Electrical HW Vehicle-Dynamics & Status Basic & Application SW Steering Control Strategy Driver Torque Control! Feed-Forward! New Strategy? Basic Steering Functions Fixed control approach on series production steering system 9

10 USE-CASES: STEERING CONTROL Open Steering Platform Driver Steering System Mechanical HW Electrical HW Vehicle-Dynamics & Status Driver Torque Control Basic & Application SW Steering Control Strategy Feed-Forward Basic Steering Functions New Strategy? Change control implementation on RCP unit 10

11 USE-CASES: ADAS Lane Keeping Assistant Camera System (Sensor) Driver Signal-Processing Vehicle-Dynamics & Status Lane Keeping Assistance (LKA) System Lateral Controller Human- Machine Interface (HMI)! Steering System (Actuator) No interface for LKAS control demands Interaction of steering functions 11

12 USE-CASES: ADAS Lane Keeping Assistant Camera System (Sensor) Open Steering Platform Driver Signal-Processing Vehicle-Dynamics & Status Lane Keeping Assistance (LKA) System Lateral Controller Human- Machine Interface (HMI) De-central camera signal processing Steering System (Actuator) LKAS running on RCP unit Basic steering functions for driver input 12

13 USE-CASES: MODEL-BASED APPROACH MiL/SiL Simulation HiL Testing Vehicle Road Test Predevelopment Function prototyping Steering test bench Function tuning Test vehicle Function evaluation Open Steering Platform models/code Open Steering Platform on HiL Open Steering Platform in vehicle 13

14 BENEFITS Coherent specification Open access to steering system actuation One platform for different systems Open Steering Platform Versatility regarding EPS type Consistent modelbased development Utilization of existing RCP infrastructure 14

15 OUTLOOK Autonomous driving functions Sensor fusion on RCP unit Interconnect RCP units Steer-by-Wire Test of steering and feedback module RCP Hardware Adapt to target use 15

16 SUMMARY Difficulties integrating new steering functions into existing systems Open Steering Platform consisting of: Steering hardware RCP unit Power electronics Use Cases for: Classic steering functionality ADAS Autonomous functions Consistent model-based approach 16

17 MDYNAMIX AFFILIATED INSTITUTE OF MUNICH UNIVERSITY OF APPLIED SCIENCES 17