Malte Rothhämel

Fail-operational Chassis for highly

and fully automated Trucks

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1

REVM/Malte Rothhämel/Fail-operational chassis

Cost distribution long haulage

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2

REVM/Malte Rothhämel/Fail-operational chassis

Research question

When driving automated or even driverless,

what do we require from the chassis?

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3

REVM/Malte Rothhämel/Fail-operational chassis

Conventional hydraulic power steering

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4

REVM/Malte Rothhämel/Fail-operational chassis

ServoTwin (Bosch / Mercedes)

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5

REVM/Malte Rothhämel/Fail-operational chassis

Electronic Braking System

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6

REVM/Malte Rothhämel/Fail-operational chassis

What do we require from the chassis?

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7

REVM/Malte Rothhämel/Fail-operational chassis

Hazard Identification

and Risk Analysis

Redundancy steering system

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8

REVM/Malte Rothhämel/Fail-operational chassis

Redundancy steering system

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9

REVM/Malte Rothhämel/Fail-operational chassis

Fail operational Steering SystemRequirements by OEM

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REVM/Malte Rothhämel/Fail-operational chassis

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

Tedrive iHSA

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11

REVM/Malte Rothhämel/Fail-operational chassis

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12

REVM/Malte Rothhämel/Fail-operational chassis

Tedrive iHSA

Truck brake system with EPB

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13

REVM/Malte Rothhämel/Fail-operational chassis

Fail-operational truck brake system

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14

REVM/Malte Rothhämel/Fail-operational chassis

Driving demonstration

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15

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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REVM/Malte Rothhämel/Fail-operational chassis

There is a lot

of work left!

Thank you

for your

attention!

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17

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

2

Fail-operational Chassis for highly and fully automated TrucksExperimental Truck