Institut für Fahrzeugtechnik
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Institute
Rapid Prototyping of Autonomous Driving Algorithms on Embedded Platforms using Docker and MATLAB
(2026)
The development of software on embedded platforms poses challenges due to limited processing capabilities and high latency. This makes development time-consuming, especially in edge computing scenarios where real-time responsiveness is crucial. A streamlined installation process combined with a straightforward communication protocol minimizes setup time and accelerates development. The proposed solution leverages Docker containers to encapsulate essential software components on the edge device, offering a modular architecture that isolates functionalities and enables efficient configuration across heterogeneous environments. Integrating a communication protocol via MATLAB facilitates the development of complex algorithms on a high-performance platform—an approach widely used in mechatronic systems across mobility, manufacturing, and energy domains. To demonstrate this, a case study from research and teaching at TH Nürnberg is presented: sensors and a Raspberry Pi are integrated into a 1:10 scale RC vehicle. Communication with sensors and actuators runs via Docker containers, enabling modular and reproducible deployment. Algorithms for autonomous driving—such as perception, planning, and motor control—are developed in MATLAB and transferred to the vehicle. This illustrates the flexibility of the approach for academic applications. It combines a fast, uniform hardware setup with a realistic scaled vehicle, well-suited for prototyping and experimentation in embedded systems.
TrackVision erweitert den Wahrnehmungshorizont automatisierter Rangierlokomotiven, insbesondere bei langen Güterzügen. Das Ziel besteht darin, eine modulare Architektur zu entwickeln, die fahrzeug- und infrastrukturseitige Sensorik (Lidar, Radar, Kamera) vernetzt und über ein Track Side Management Sys-tem ein konsistentes Umgebungsmodell erzeugt. Dadurch sollen die Prozesse im Rangierbahnhof deut-lich effizienter werden, während die Sicherheit beim automatisierten Rangieren jederzeit gewährleistet bleibt. Zentrale Schwerpunkte sind die Entwicklung geeigneter Architekturkonzepte und der Aufbau ei-ner fotorealistischen Simulationsumgebung (Unreal Engine + MATLAB/Simulink) zur weiteren Evaluation dieser Wahrnehmungssysteme.
Die Entwicklung komplexer, vernetzter mechatronischer Systeme erfordert von angehenden Ingenieur:innen nicht nur Fachwissen, sondern auch fundierte Methodenkompetenzen im Systems Engineering. Dieser Beitrag präsentiert das praxisorientierte Lehrkonzept des Projekts DriveOhm der Technischen Hochschule Nürnberg, das Studierenden SE-Methoden durch anwendungsnahe Erfahrungen vermittelt. Als experimentelle Plattform für problembasiertes Lernen dienen speziell ausgestattete Modellfahrzeuge. In Teamarbeit entwickeln Studierende damit eigenständig mechatronische Fahrzeugsysteme, wie z.B. Fahrerassistenzsysteme, und wenden dabei zentrale SE-Methoden aus den Bereichen Requirements Engineering, Systemarchitekturentwicklung sowie Verifikation & Validierung an. Die Evaluation zeigt, dass die Modellfahrzeuge ein effektives Mittel sind, um theoretisches Wissen mit praktischer Anwendung zu verknüpfen und SE-Kompetenzen nachhaltig zu fördern. Der Beitrag diskutiert Erfolgsfaktoren und Herausforderungen bei der Umsetzung dieses didaktischen Ansatzes in der ingenieurwissenschaftlichen Lehre und zeigt auf, wie der spielerische Zugang über die Modellfahrzeugen nicht nur die Motivation steigert, sondern auch zur besseren Vorbereitung auf die berufliche Praxis beiträgt.
The debate over synthetic fuels is intense especially in sectors with a high energy demand like maritime [1, 2]. Hydrogen production from renewable sources is growing, but immediate measures for decarbonization are needed [3, 4]. In this context, the project MethMag was funded, and a gas engine for methane combustion with an innovative cooling concept and a purged prechamber (PC) spark plug was virtually developed [5, 6]. Validation with data from the test bench demonstrates that the simulations accurately represent the operating conditions [7, 8].
This combustion process is adapted for ammonia, which is being considered as a climate-friendly fuel of the future, particularly in maritime transportation [4, 9]. This fuel faces significant combustion challenges and is therefore mostly considered in complex, bivalent systems [10]. In particular, the prechamber is examined regarding the ignitability of ammonia. The overarching objective is to eliminate the necessity for a secondary fuel system, thereby reducing system complexity and associated costs.
The transition to ammonia highlights the need for further adjustments. The geometry of the PC cap significantly affects turbulence and mixture formation in the prechamber [11]. While swirl caps generate high turbulence, the mixture formation is inadequate. Tumble caps, on the other hand, provide advantages in mixture formation by achieving an earlier increase in turbulence, even though the maximum turbulence is lower. For ammonia combustion, PC wall conditioning is not essential, given the inherently low combustion temperatures. However, conditioning can improve cold-start behavior by accelerating PC combustion and offering greater flexibility in ignition timing [12]. Direct injection into the prechamber enhances fuel mixing and reduces sensitivity to ignition timing adjustments. This leads to higher efficiency and better combustion characteristics, particularly at lean air-fuel ratios [13, 14]. Operating with a lean ammonia-air mixture is challenging but offers benefits for non-selective catalytic reduction (non-SCR) of nitrogen oxides. Simulations show that operation with λ = 1.2 and λ = 1.4 is feasible, although efficiency decreases at leaner mixtures [15].
Systems Engineering in der ingenieurwissenschaftlichen Lehre: Herausforderungen und Good Practices
(2025)
Interdisziplinäre Zusammenarbeit und ganzheitliches Denken sind essenziell, um drängende gesellschaftliche Herausforderungen wie den Klimawandel durch technische Innovationen zu bewältigen. Systems Engineering hat sich in der Industrie als bewährte Methodik zur Entwicklung komplexer mechatronischer Systeme etabliert und bietet auch für die ingenieurwissenschaftliche Lehre großes Potenzial. Am Beispiel des studentischen Projekts DriveOhm der TH Nürnberg wird gezeigt, wie Systems Engineering erfolgreich in die Lehre integriert werden kann. Studierende entwickeln mithilfe eines speziell ausgestatteten Modellfahrzeugs eigenständig Fahrerassistenzsysteme und wenden Methoden wie Requirements Engineering, Systemarchitekturentwicklung und Verifikation & Validierung an. Der vorliegende Beitrag präsentiert die erstmalige Umsetzung des Lehrkonzeptes, identifiziert Good Practices und diskutiert Herausforderungen dieses Ansatzes.
Harmful NOx emissions generated during rapid changes in engine’s speed and load (such as acceleration or deceleration) are strongly linked to deviations in air-to-fuel ratio (λ) from its optimal setpoint. These deviations arise under transient conditions due to several factors, including sensor resolution limitations, time delays between actuators and sensors, and inaccurate air mass estimation within the engine management system.
While fuel mass control has significantly improved over the past three decades - achieving superior performance in terms of both dynamics and accuracy through the use of multiple injections per engine cycle - the primary challenge remains the precise control of air mass, particularly under transient conditions. Nonlinear wave dynamics and the inertia of the engine’s air path make traditional solutions, such as slow and inefficient actuators like the butterfly valve, inadequate.
This paper introduces a novel methodology to address these limitations by developing a device that is an order of magnitude faster than a butterfly valve while minimizing flow losses. The design philosophy is outlined, and the flow bench setup used to evaluate the performance of an instrumented prototype is presented. High-frequency data collected during testing are analyzed, and the extracted flow structure and turbulence parameters are discussed.
Finally, the dynamic performance of the newly developed device is incorporated into a transient gas exchange engine model, where its capability to control λ on a cycle-resolved basis is evaluated against a conventional throttle body. Numerous studies have proven that NOx spikes during engine’s accelerations and decelerations are well correlated to λ deviations from its setpoint. The assessment of the emissions reduction strategy under transient conditions is based on the device's precision in managing λ during each engine cycle, as derived from the transient model output.
