©1994 PHOTODISC, INC. utomotive systems are increasingly being devel- tonomous functionality. Examples of first steps toward oped with integrated electronic sensors, actua- mechatronic systems for automobiles were the arrival of digi- tors, microcomputers, information processing tally controlled combustion engines with fuel injection in 1979 for single components, and engine, drive- and digitally controlled antilock brake systems (ABS) in 1978. train, suspension, and brake systems. These Today’s combustion engines are completely microcomputer have matured to mechatronic systems that controlled, typically with five electrical, electrohydraulic, or are characterized by the integration of components (hard- electropneumatic actuators and several measured output ware) and signal-based functions (software), resulting in au- variables, taking into account different operating phases such as startup, warming up, idling, and normal operation. Isermann (
[email protected]) is with the Institut fuer The only input from the driver is generated by the accelera- Automatisierungstechnik Technische, Universitaet Darmstadt tor pedal and transferred to the throttle (spark-ignition en- Landgraf-Georg-Str. 4, D-64283 Darmstadt, Germany. Schwarz is gines) or the injection pump (diesel engines) wuth Continental Teves, Frankfurt 60488, Germany. Stölzl is with This article begins with a review of electronic driver as- A.T. Kearney Gmbh, Frankfurt 60327,Germany. sisting systems such as ABS, traction control (TCS), elec- 0272-1708/02/$17.00©2002IEEE