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Continental

Continental

Germany

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Continental develops pioneering technologies and services for sustainable and connected mobility of people and their goods. Founded in 1871, the technology company offers safe, efficient, intelligent, and affordable solutions for vehicles, machines, traffic and transportation. Continental generated sales of €37.7 billion in 2020 and currently employs around 235,000 people in 58 countries and markets. In 2021, the company celebrates its 150th anniversary.

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16 July 2021

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F2020-VDC-076

Paper + Video

Dr.-Ing. Thomas Raste, Continental AG, GERMANY
Dr.-Ing. Andree Hohm, Continental AG, GERMANY
Dipl.-Ing. Alfred Eckert, Continental AG, GERMANY

Detail

This paper describes a new holistic motion control approach for personalized and efficient vehicle dynamics. The control system is part of Continental’s Holistic Driverless Technologies and contributes to the Program Autonomous Driving making cars intelligent and driving safer than ever before. The goals and use-case scenarios of the key functionalities, the logical architecture and the common interface structure leading to best reusability of existing system elements will be presented in the paper. An object oriented design pattern maps the overall system into parent and child systems along different chain of effects. The chains are either build for specific purposes or represent emergent properties like waste heat. Examples of parent/child system pairs are vehicle/chassis, chassis/corner or corner/actuator. Each system distinguishes internally between information providers (observer functions) and managers. Observer functions provide information for the own and the parent level and coordinate limits received from the child level. Manager functions determine requests to control the respective child system. The application of holistic motion control is demonstrated using the example of an electric vehicle with wheel individual electric motors at the front axle and friction brakes at each corner. Vehicle level longitudinal and lateral requests are determined by a dynamic feedforward control with personalizable vehicle responsiveness and damping characteristics. The central element on chassis level is a Model Predictive Controller (MPC) requesting corner module forces while accounting for limits of stability and energy. A twin track model is used to describe the dynamics of the chassis. Time variant system matrices are generated by linearization and discretization at every sampling instant. Tire-road friction circles constraining the admissible forces at the wheels are approximated by polygons. The purpose of these measures is to ensure the applicability of convex quadratic programming suitable for real time embedded optimization. Corner modules process the incoming stream of chassis requests and generate a stream of requests to the actuators. A corner module MPC framework at the front axle is able to optimally split the wheel braking torque among the redundant actuators, while providing anti-lock braking features by wheel slip regulation. This approach offers fast transient response, without compromising the energy recuperation efficiency of the electric motors taking different dynamic authorities of friction brake and electric motor into account. Continental is aware of its responsibilities in the transformation of mobility and energy efficiency and has actively taken up the challenges. In doing so, we are paving the way to deliver intelligent and sustainable mobility far into the future, while at the same time making a significant contribution to maintaining the attractiveness of personal mobility.

FISITA World Congress 2021

VDC - Vehicle Dynamics and Controls

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Holistic Motion Control for Personalized and Efficient Vehicle Dynamics, F2020-VDC-076, FISITA World Congress 2021

EB2022-IBC-008

Oral

S&P Global Mobility: Mr. Patricio Barbale

Detail

For this presentation I would like to show the results of our research about Brake Actuation systems. We have a forecast from 2020 to 2033 showing for each car in the market (up to 6tons) the technical information about the brake actuation system (Hydraulic, Electro-Hydraulic, Electro-Mechanical) (1-box, 2-box) and the supplier of the system (Bosch, Advics, Continental, etc). I can show the connections between the evolution of brake actuation systems connected with the increased penetration of Electric and Autonomous vehicles. Electro-hydraulic brake systems are the most used today for Alternative Propulsion vehicles, while we will see new systems (Brake by wire) connected with autonomous vehicles after 2027. This kind of analysis can be split by region, to see how different regions are working on this component. In the same way we can see the systems that the different OEMs are using. Finally, I can also show the evolution of the control system, moving to Chassis domain controller or zonal domain controllers.

EuroBrake 2022

Braking systems as part of the mobility agenda (part 2)

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Evolution of braking systems: the road towards brake by wire, EB2022-IBC-008, EuroBrake 2022

EB2021-IBC-006

Paper + Video + Slides

Detail

Mr. Lennart Guckes, TU Darmstadt Institute of Automotive Engineering (FZD), GERMANY

Prof. Dr. Hermann Winner, TU Darmstadt Institute of Automotive Engineering (FZD), GERMANY

Dr.-Ing. Jens Hoffmann, Continental Teves AG & Co. oHG, GERMANY

Mr. Sébastien Pla, Continental Teves AG & Co. oHG, GERMANY


During the development toward autonomous and electrified vehicles with low emissions, many visions for future mobility concepts arise, one of them being autonomous shuttles for urban areas. Most publications concerning these concepts focus on control and software while in this paper the change of requirements for wheel brakes is examined.

The performance of wheel brakes for todays passenger cars is currently tested under different worst-case assumptions regarding area of operation and highest possible load resulting from human operation. Considering the capabilities of autonomous shuttles like autonomous driving and the availability of regenerative braking, these assumptions need to be reevaluated. This also includes comfort and lifetime requirements regarding wheel brakes for these concepts and takes in perspective that for an autonomous shuttle a certain area of operation is defined in their operational design domain (ODD) as well as a lower maximum velocity.


To do so, different autonomous shuttle concepts are aggregated as well as their respective hardware and tech specs. To gather system requirements for the braking system of an autonomous shuttle a stakeholder analysis is performed, highlighting the underlying business model, driving tasks and passenger types as well as their needs and wishes. The shift in requirements is derived in comparison to conventional wheel brakes for cars. Usual performance tests for conventional wheel brakes for passenger cars are semantically analyzed to discuss their relevance and transferred into new performance tests for the given vehicle class.


Three test scenarios are created, the first one being the “Emergency Braking Test”, which consists of two consecutive emergency brakings. Secondly a “Standard Operation Test” which consists of ten consecutive, comfortable accelerations and decelerations for passenger pickup and transport. Lastly, a “Hill Descent Test” on a long descent in the area of operation of the shuttle, like in the demanding urban topology of San Francisco. Based on the scenarios different availability levels of regenerative braking power are considered.


Based on the developed test cycles a comparison is drawn for power and energy dissipation demand and the corresponding torques needed for an example vehicle under various levels of available regenerative braking power. While power and energy dissipation have decreased heavily, the torque demand is still as high as needed for a conventional vehicle.


The changed requirements open up new possibilities for suitable braking concepts for autonomous shuttles. This may also reduce brake emissions depending on the chosen concepts.

EuroBrake 2021

BCN

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Requirements and Test Cycles for Brake Systems of Autonomous Vehicle Concepts on the Example of an Autonomous Shuttle, EB2021-IBC-006, EuroBrake 2021
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Germany

Head of Strategy and Future Solutions in the Safety and Motion Business Area, Member of the Safety and Motion Management Board

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