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

The automotive industry is transitioning to software-defined vehicles, enabled by the integration of X-by-wire technologies into modern vehicle systems. This shift enables the application of advanced vehicle control systems that bridge the gap between the driver’s intention and the vehicle’s optimal dynamic response, realized by employing multiple drive, steer, brake, and suspension-by-wire actuators. In practice, a sim-to-real gap is present between simulation and full-scale validation of these advanced control systems. This article presents the Multi-Actuated Research Vehicle, a novel 1:5 scale over-actuated X-by-wire ground vehicle test platform with independent wheel drive, steer, brake, and suspension-by-wire capabilities. The scaled platform creates an intermediate step within the sim-to-real gap, enabling a low-risk hardware and software in the loop alternative for control system testing and validation. This article presents the design and capability of the scaled vehicle platform, serving as a blueprint for developing a scaled X-by-wire research vehicle for advanced vehicle dynamics and control research. The presented platform design is constructed and validated against the vehicle’s dynamic requirements, showcasing the platform as an advantageous step between simulation and full-scale testing.