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Report

Teaser, summary, work performed and final results

Periodic Reporting for period 1 - ITEAM (Interdisciplinary Training Network in Multi-Actuated Ground Vehicles)

Teaser

Summary

\"The ITEAM network is aimed at establishing and sustainably maintaining the European training network with high grade of interdisciplinarity by training strong specialists to research and develop cutting-edge technologies in the field of multi-actuated ground vehicle (MAGV). In this framework, the ITEAM consortium sets out to foster the development of new hardware and software solutions to enhance the driving performance, to improve the vehicle safety and to reduce the pollutants emissions. In concert with the research goals, the consortium will also guarantee a sound and effective collaboration between the academia and industry in order to improve the career perspectives of the talented graduates.
Distinctive feature of the ITEAM network is the concept of interaction of three research clusters: \"\"MAGV integration\"\", mainly aimed at developing subsystems for active control of the chassis and the powertrain; \"\"Green MAGV\"\", focused on the development of innovative solutions to improve the efficiency and to reduce the emissions of MAGV; \"\"MAGV Driving Environment\"\" that deals with the realisation of semi-autonomous and fully automated driving of MAGV. In particular, the research effort involved in three clusters stems from fifteen individual projects that will lead to as much doctoral thesis. All the participants will be trained in the domains of control engineering and computational intelligence, vehicle dynamics and human machine interface, assessment of the proposed solutions by means of the development of virtual and real testing facilities for MAGV.
To achieve the project objectives, the consortium draws upon 11 beneficiaries and 10 partner organisations. The ITEAM participants have put together an efficient research and training network characterised both by harmonious partners\' complementarity and synergetic cooperation in terms of development of MAGV innovations.
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Work performed

The work performed during the reporting period ranges among applicative research in the fields of vehicle dynamics control, advanced driver assistance systems (ADAS), autonomous driving (AD) and human machine interface (HMI) and can be summarised as follows:
i) A set of models of vehicle and associated subsystems have been developed in different software environments (MATLAB / Simulink, IPG, AMESIM) in order to simulate vehicle manoeuvers, validate state observer and virtual sensors and assess novel mechatronic devices and controllers for hardware-in-the-loop (HIL) tests. Advanced techniques have been also implemented to simulate the electric botnet for full electric and hybrid vehicles equipped with ADAS up to level 5.
ii) Innovative vehicle chassis controllers have been devised with the aim of optimizing on-board driving functions and attaining safe driving with simultaneous reduction of vehicle related emissions. These latter resulted from the development of advanced software models for components and driving environments to attain safe vehicle navigation and efficient driving. The current progress will lead to the realisation of an advanced controller for driving performance improvement with simultaneous reduction of non-exhaust emissions, particularly from brake and tyres.
iii) The consortium achieved a valuable advancement of tools for driver assistance, as well as for cognitive semi-autonomous and autonomous mobility, contributing to the environment-friendliness and safety of MAGV. The consortium has laid the basis for a new generation of hybrid ECUs that combines the functionalities of ADAS with driver decisions in order to realise a safe and energy efficient vehicle displacement. A simulation platform and associated test protocols for ADAS motion planning, in compliance with safety and environmental requirements, has been designed and will be completed during the next years.
iv) Experimental facilities, including dynamometers and HIL setup, have been deployed to assess the feasibility of the proposed solutions. The HIL test rigs at different host organisations are used to test the devised chassis controller and state estimators. In particular, the dynamometer test rig at TUIL has been prepared to conduct an experimental network-wide campaign assessing the particle emission from non-exhaust sources and proving the effectiveness of the proposed solutions.

Final results

The consortium has devised and validated several state estimation techniques and control strategies, encompassing vehicle dynamics, advanced chassis, and powertrain subsystems, within the MAGV perspective. On-vehicle implementation of these latter requires the adoption and integration of innovative sensors for the new generation of autonomous vehicles. Indeed, ADAS require the use of devices for environmental sensing and the development of software for obstacle recognition and motion planning: advanced tools for the enabling of autonomous local navigation systems, such as lane following and obstacle avoidance, are currently under development and will be tested during the next stages of the project.
The consortium has proposed novel controllers for the enhancement of vehicle safety and lateral stability with special attention to electric powertrains. Hereunto, the presence of advanced on-board functions demands the realisation of HMI communication systems that informs the driver about the vehicle or environment states. The HMI of the vehicle has to be safe, simple, understandable, and aimed at minimizing the driver level of distraction. Therefore, driver decoy experiments will be performed to test the suitability of the HMI in MAGV equipped with complex ADAS and AD functions.
The consortium has carried out intensive experimental activities at different hosts and using different testing and measurement techniques to collect data and parametrise models of chassis subsystems and vehicle dynamics. The establishment of a robust and reliable test procedure and associated devices is a demanded task for the assessment of the effectiveness of the developed solutions for MAGV. Moreover, a simulation platform and associated test protocols for ADAS motion planning, in compliance with safety and environmental requirements, has been designed and will be completed during the next years. Particularly, a reduced scale test facility will be developed to evaluate the ADAS performance.
The proposed network topics have a remarkable grade of interdisciplinarity towards the development and implementation of cutting-edge solutions for MAGV as control objects with fundamentally new level of complexity. Indeed, knowledge transfer and experience sharing between participants from academic and non-academic sectors is ensured to create innovative products in the field of ground vehicle engineering based on the know-how of partners in automotive control systems, vehicle dynamics, ADAS and experimental techniques. The strong networking between academia and partners from industrial and private sector is fundamental for the real-world implementation of the devised engineering solutions.