Matthias Nee
Current Organizations / Institutes
The organizations/institutes from the scholar's latest article
Research Subjects
Matthias Nee has a total of 4 co-authors. Here are the top co-authors by number of shared publications:
Liren Wu
Institute of Control Engineering, Technische Universitt Braunschweig, Braunschweig, Germany
1 shared publication- Markus Maurer
Technische Universität Braunschweig
1 shared publication - Marvin Loba
Institute of Control Engineering, Technische Universitt Braunschweig, Braunschweig, Germany
1 shared publication - Torben Stolte
Institute of Control Engineering, Technische Universität Braunschweig, Braunschweig, Germany
1 shared publication
Latest Publications
- Open Access
- 23 January 2023
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Access
- Vol. 11, 10499-10519
Toward Fault-Tolerant Vehicle Motion Control for Over-Actuated Automated Vehicles: A Non-Linear Model Predictive Approach
Automated driving systems operated at SAE levels 4 and 5 require a far-reaching fault-tolerant design. To meet this need at the actuator level, we present an integrated vehicle motion control approach that is able to tolerate a wide range of different actuator degradations as well as tire blowouts in vehicles featuring four wheel-individual steering, drive, and brake actuators. The approach, which is based on non-linear model predictive control (MPC), tracks a temporal sequence of reference poses. Fault tolerance is achieved by reconfiguration of the MPC’s constraints, weights, and prediction model, which consists of a double-track vehicle and a brush tire model. The evaluation based on the example of a demanding decelerated single lane change trajectory in IPG CarMaker demonstrates the functionality of the approach. Moreover, the example shows that the suitability of fault-tolerant vehicle motion control as part of a system-wide safety concept depends on the range of possible driving scenarios an automated driving system can encounter.
- 23 January 2023
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Access
- Vol. 11, 10499-10519
Open AccessToward Fault-Tolerant Vehicle Motion Control for Over-Actuated Automated Vehicles: A Non-Linear Model Predictive Approach
Automated driving systems operated at SAE levels 4 and 5 require a far-reaching fault-tolerant design. To meet this need at the actuator level, we present an integrated vehicle motion control approach that is able to tolerate a wide range of different actuator degradations as well as tire blowouts in vehicles featuring four wheel-individual steering, drive, and brake actuators. The approach, which is based on non-linear model predictive control (MPC), tracks a temporal sequence of reference poses. Fault tolerance is achieved by reconfiguration of the MPC’s constraints, weights, and prediction model, which consists of a double-track vehicle and a brush tire model. The evaluation based on the example of a demanding decelerated single lane change trajectory in IPG CarMaker demonstrates the functionality of the approach. Moreover, the example shows that the suitability of fault-tolerant vehicle motion control as part of a system-wide safety concept depends on the range of possible driving scenarios an automated driving system can encounter.