Rainer Busch

ROBUST YAW CONTROL DESIGN WITH ACTIVE DIFFERENTIAL AND ACTIVE ROLL CONTROL SYSTEMS

Abstract A simple robust yaw controller for the nonlinear single-track model is designed, making use of active differential and active roll control systems. Robustness is studied for uncertainties in several model parameters, namely the vehicle longitudinal velocity, the road adherence coefficients and the hand wheel angle. Constructive nonlinear dynamics are employed for the controller design. The controller parameters are selected by solving an optimization problem. Stability of the solution is guaranteed by constraints that ensure a minimal distance between the nominal operating point and a stability boundary in the space of uncertain parameters.

Model-in-the-Loop and Software-in-the-Loop Testing of Closed-Loop Automotive Software with Arttest

In this paper, we present Arttest, a tool for functional testing of block diagrams developed with MATLAB/Simulink. We introduce testing concepts for closed-loop tests of automotive software on model and software level, the integration of the concepts into a signal specification language and correspondent tool support. Furthermore, we show the applicability of the concepts and the test execution automation based on an example for model-in-the-loop and software-in-the-loop tests.

A Framework for Optimized Allocation of Control Functions to a Distributed Architecture

In this paper we present the results of a project that concentrates on the design of distributed embedded systems for control-related applications. The OPTMAP (Optimal Mapping of Virtual Control Functions to a Distributed Architecture) framework supports the function allocation based on given constrains involving a feasible solution. The control systems we will consider use a time-triggered paradigm for sensor reading and event-driven behavior for inter-processor communication. Sensor values are read at fixed periods in time and data processing occurs after the control unit receives the proper message. The aim of the project is to get an optimized mapping which minimizes information traffic on the network and guarantees that all processing units are able to handle the distributed control functions in real time.

Timing Analysis and Scheduling of Distributed Control Functions

Abstract With OSEK/VDX as an European automotive industry standard to produce open system interfaces for vehicle electronics, control functions are no longer tied to a specific electronic control unit. This is the basis for new distributed control functions that are independent of local ECU platforms. Methods and algorithms are required for partitioning and efficient and accurate implementation of the functionality on different hardware platforms. In this paper a method is presented to calculate the timing constraints of dataflow systems where the tasks have timing and precedence constraints. Based on the results a schedulability test is introduced that can be implemented into an allocation algorithm as an analysis for a functionally and temporally correct real-time system.