Actuator Management and Traction Control

Concept

The actuator management is responsible for safety checks on the calculated control requests such as rate limitations and enforcing actuator limitations. The traction control is a very basic controller which kicks in if one of the wheels has more slip than a certain target value (braking and accelerating). It uses a PI-like behavior if it intervenes.

Parameter list xx_mvdc_trajectory_driver

Parameter	Description
P_VDC_EnableTC	Enable traction control
P_VDC_TC_TargetSlip_perc	Target slip for traction control
P_VDC_TC_Kp	Traction control proportional control gain
P_VDC_TC_Ki	Traction control integral control gain
P_VDC_TCActiveSpeed_mps	Traction control minimum speed
P_VDC_TCMaxF_N	Maximum force modification via traction control
P_VDC_SlipFilterTC_s	Low pass time constant for actual slip value in traction control
P_VDC_TCReductionFactor	Forgetting factor of traction control after usage
P_VDC_NegativeFxStandstill_N	Control request when controller is disabled
P_VDC_MaxSlopeDelta_radps	Maximum change rate of steering wheel request
P_VDC_FxMaxSlope_Nps	Maximum change rate of longitudinal force request