System architecture of a full active autonomous electric vehicle

The present paper focuses on the model-based development of an electric vehicle, FreDy, equipped with direct drives on the rear axle positioned in proximity to the wheels. FreDy is a fully active electric vehicle combining electric traction with an intelligent chassis consisting of four independent active wheel modules. By using a hierarchically structured vehicle management the research vehicle FreDy enables motoring that is optimized with regard as well to energy consumption as to driving dynamics and driving safety. Conception and realization of the vehicle are performed by means of a structured procedure in a model-based, hierarchical mechatronic approach and will be detailed in the following.