Motion control solutions for automated driving systems at BMW

Autoren

Dr. Alexander Kron, Immanuel Schaffer, Jeffrey Tchai, Dr. Karl-Heinz Meitinger, Dr. Stefanie Schraufstetter, BMW Group

Jahr

2019

Zusammenfassung

Aside from technological trends, such as electrification and digitalization, automotive development is currently dominated by maturing the level of Autonomous Driving.
Latest BMW models are already supporting the driver with an extensive portfolio of advanced driving assistance systems (ADAS) in the areas of driving comfort, active safety and parking. The maturity of these systems, and their level of automation can mainly be categorized as level-1 (driver assistance) and level-2 (partial automation). Partial automation, temporarily enables the driver to have hands and eyes off, however he or she is still responsible for the driving supervision task. The transition from level-2 to level-3 automation increases the system complexity extensively, as the driver is not “actively” required to monitor the environment, so called “hands and eyes off”. In this stage, he or she still requires to be ready to retake control at all times if notified by the vehicle. Level-4 functionality allows an even higher grade of automation in which the driver can drive the vehicle “mind and hands off”. In the last stage, level-5 (full automation), the vehicle is capable of performing all driving tasks under all environmental conditions without involving the driver at all. The BMW Group has more than 10 years of experience in the development of advanced driver assistance systems, currently developing level-3 automated driving systems in close  cooperation with several partners. Managing the increasing system complexity requires a strong understanding of the overall system architecture. This paper describes the BMW approach to level-3 autonomous driving, which divides total functionality of the complete system in a chain of subsystems. In the following section, the system architecture is described, followed by proposing elected solutions for motion control as a subsystem for vehicle guidance for an automated driving system.

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