Safety Concepts for a steer-by-wire superposition function at the stability limit of driving dynamics

Autoren

J. Birkemeyer, L. Borkowski - Volkswagen AG

Zusammenfassung

The increasing potential of vehicle dynamics controllers created by actuators such as steer-by-wire systems requires new approaches in monitoring of such functions to prevent malfunctions. Within this paper, a safety concept for monitoring of a vehicle dynamics controller in critical driving situations is designed. Based on a linear modelpredictive safety filter, additional inputs to be imposed on a steer-by-wire system are evaluated in terms of safety and reduced if necessary. The safety specification is expressed in terms of a set of unsafe, uncontrollable vehicle conditions, which is developed using a stability analysis of a non-linear vehicle model. The effectivness of the proposed safety filter is demonstrated in a co-simulation with IPG CarMaker.