Fail-operational Chassis for highly and fully automated Trucks · 2017. 7. 14. · ServoTwin (Bosch...
Transcript of Fail-operational Chassis for highly and fully automated Trucks · 2017. 7. 14. · ServoTwin (Bosch...
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Malte Rothhämel
Fail-operational Chassis for highly
and fully automated Trucks
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REVM/Malte Rothhämel/Fail-operational chassis
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Cost distribution long haulage
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REVM/Malte Rothhämel/Fail-operational chassis
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Research question
When driving automated or even driverless,
what do we require from the chassis?
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REVM/Malte Rothhämel/Fail-operational chassis
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Conventional hydraulic power steering
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REVM/Malte Rothhämel/Fail-operational chassis
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ServoTwin (Bosch / Mercedes)
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REVM/Malte Rothhämel/Fail-operational chassis
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Electronic Braking System
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REVM/Malte Rothhämel/Fail-operational chassis
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What do we require from the chassis?
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REVM/Malte Rothhämel/Fail-operational chassis
Hazard Identification
and Risk Analysis
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Redundancy steering system
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REVM/Malte Rothhämel/Fail-operational chassis
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Redundancy steering system
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Fail operational Steering SystemRequirements by OEM
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low 3 4 &
5
Redundant steering wheel angle control X X
Redundant data transfer and energy supply X X X
Scalable
system
Low: 1 channel active steering (ICE pump) + vehicle stop X
Medium: 1 channel active steering (ICE pump) + steer-by-brakes X
High: = Medium + 2 channel active steering with either
• hyd / hyd: ICE pump + electric pump + 2 small electric motors
• hyd / elm: ICE pump + fail-op electric motor with gear
• elm / elm: Fail-operational electric power steering
? X
Right sizing: • 100% performance for intact system
• in case of failure
• reduced performance ( 𝑦𝑚𝑎𝑥, 𝛿𝑊ℎ𝑒𝑒𝑙,𝑚𝑎𝑥) acceptable
• steering at standstill not required
X X
Automatic responsibility arrangement: Steer 1 vs. Steer 2 with hot redundancy X X
Interface with switchable request: steering wheel torque vs. wheel angle X X
Possibility to calculate encapsulated brake system or automatic driving code X X
Automation Level
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Tedrive iHSA
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REVM/Malte Rothhämel/Fail-operational chassis
Tedrive iHSA
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Truck brake system with EPB
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Fail-operational truck brake system
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REVM/Malte Rothhämel/Fail-operational chassis
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Driving demonstration
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REVM/Malte Rothhämel/Fail-operational chassis
Slalom
Lane Change
Request Requirements in case
of failure in primary
system
Resul
t
Bra
ke
Velocity 50km/h ± 2km/h√
Stop Moderate braking to
stop in front of stop
line:-1m…+0m
√
Emergency
braking acc.
ECE-R13
-5m/s²√
Ste
ering
Slalom No cone fallen @
40km/h √ISO 3888-1
Lane Change
No cone fallen @
50km/h √ECE-R79 Steering wheel ramp up
to
12m radius @10km/h
√
Source: Google maps
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There is a lot
of work left!
Thank you
for your
attention!
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REVM/Malte Rothhämel/Fail-operational chassis
Fail-operational Data Network
Fail-operational Energy Supply
EBS(today)
Engine
ABX2
J1939 (500kbit/s)
ABX1 Steer 1 Steer 2FOBS
EPH
…Gear Retarder
J1939 (250kBit/s)
J1939 (500kbit/s)
GPS
GW
EBS
Steer
1EBS FOBS
EPH
Steer
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Fail-operational Chassis for highly and fully automated TrucksExperimental Truck