Design & Control of a 1/5^th Scaled X-by-Wire Multi-Actuated Research Vehicle (MARV)

The automotive industry is amidst a shift towards software-defined vehicles (SDV), enabled by the continual integration of X-by-Wire (XBW) technologies into modern vehicle systems. SDVs paired with over-actuated vehicle chassis’ enable the potential for a highly optimized vehicle control system by interpreting the driver’s actions and directly optimizing the output of one or multiple drive, steer, brake, and suspension-by-wire systems. However, a sim-to-real gap is present between the simulation and full-scale validation of the control systems for over-actuated and SDV systems. This article presents the Multi-Actuated Research Vehicle (MARV), a 1:5 scale over-actuated XBW ground vehicle test platform with independent wheel steer, brake, drive, and suspension-by-wire capability. The scaled MARV platform provides an intermediate step within the sim-to-real gap, enabling a low-risk hardware and software in the loop alternative for advanced control system testing and validation. The MARV platform design is presented as a comprehensive guide for developing a scaled XBW research vehicle, outlining the vehicle’s system requirements, engineering specifications, mechanical, electrical, embedded, and control system design. The resulting over-actuated XBW vehicle was constructed and validated against the vehicle’s system requirements, creating an intermediate step between simulation and full-scale testing of advanced vehicle control systems in SDVs.