Boris Lohmann’s research while affiliated with Technical University of Munich and other places

Usually, a controller for path- or trajectory tracking is employed in autonomous driving. Typically, these controllers generate high-level commands like longitudinal acceleration or force. However, vehicles with combustion engines expect different actuation inputs. This paper proposes a longitudinal control concept that translates high-level trajectory-tracking commands to the required low-level vehicle commands such as throttle, brake pressure and a desired gear. We chose a modular structure to easily integrate different trajectory-tracking control algorithms and vehicles. The proposed control concept enables a close tracking of the high-level control command. An anti-lock braking system, traction control, and brake warmup control also ensure a safe operation during real-world tests. We provide experimental validation of our concept using real world data with longitudinal accelerations reaching up to $25 \, \frac{\mathrm{m}}{\mathrm{s}^2}$. The experiments were conducted using the EAV24 racecar during the first event of the Abu Dhabi Autonomous Racing League on the Yas Marina Formula 1 Circuit.

Inhalt/Content Vorwort 1 Prozessautomation: Regelung & Optimierung Architectural elements for configuration and control of modular plants 5 Produktionsplanung für die Praxis: Simulationsgetriebene Optimierung für industrielle Batchprozesse mit Evolutionären Algorithmen 21 Containerisierung von Model Predictive Control für modulare Anlagen – Ein Schritt zu intelligenten Edge Systemen 33 Prozessautomation: Modularisierung From General Recipes to Plant-Specific Master Recipes A graphical Recipe Editor using a Capability Knowledge Base and the Capability Description Submodel of the Asset Admistration Shell 47 Evolution der IT/OT-Security durch modulare Anlagenkonzepte 59 Design and development of unified composable Control Components and unified interfaces for flexible adaptation to new changes and requirements 79 Prozessautomation: Sicherer Anlagenbetrieb Ethernet-APL Strategien für zukunftsorientierte Sicherheitsanwendungen Chancen und Herausforderungen 93 Konzept zur Unterstützung des Alarmmanagements auf Basis des intelligenten Digitalen Zwillings für Offshore-PtX-Plattformen 105 Automatisierte Durc...

This paper presents a hierarchical planning algorithm for racing with multiple opponents. The two-stage approach consists of a high-level behavioral planning step and a low-level optimization step. By combining discrete and continuous planning methods, our algorithm encourages global time optimality without being limited by coarse discretization. In the behavioral planning step, the fastest behavior is determined with a low-resolution spatio-temporal visibility graph. Based on the selected behavior, we calculate maneuver envelopes that are subsequently applied as constraints in a time-optimal control problem. The performance of our method is comparable to a parallel approach that selects the fastest trajectory from multiple optimizations with different behavior classes. However, our algorithm can be executed on a single core. This significantly reduces computational requirements, especially when multiple opponents are involved. Therefore, the proposed method is an efficient and practical solution for real-time multi-vehicle racing scenarios.

Virtual design studies for dynamics of advanced mechanical structures are often preferred over experimental studies. They allow a cheap evaluation of different designs. However, for systems undergoing large deformations or systems where viscoelastic effects cannot be neglected, these studies can mean long simulation times. A promising approach that can overcome this burden is model reduction. Model reduction reduces the computation costs by approximating high dimensional models by reduced order models with mathematical methods. For this reason, a research project was initiated within the Priority Program, whose goal is to develop reduction methods for such systems to enable faster design iterations. This article summarizes the results of this project: First, an overview over the equations of motion for geometric nonlinear systems is given. Then different reduction techniques for these system are summarized. A focus, here, is on simulation-free reduction techniques that avoid costly time simulations with the full order model and on parametric approaches that can consider design changes. This also includes geometric modifications that are handled by mesh morphing techniques which are able to maintain mesh topology making them perfectly suited to parametric reduction approaches. A case study illustrates the performance of the most promising approaches. Many literature references are given where the reader can find more information about the different approaches. The second part of the article deals with models containing viscoelastic materials. Here, a linear formulation for the equation of motion is considered. Different reduction bases are proposed to obtain a reduced order model. Their performance is illustrated with a plate model that contains an acoustic black hole with a viscoelastic constrained layer damper.