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Encapsulated trajectory tracking control for autonomous vehicles

Homolla, Tobias ; Winner, Hermann (2023)
Encapsulated trajectory tracking control for autonomous vehicles.
In: Automotive and Engine Technology, 2022, 7 (3-4)
doi: 10.26083/tuprints-00023244
Article, Secondary publication, Publisher's Version

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Item Type: Article
Type of entry: Secondary publication
Title: Encapsulated trajectory tracking control for autonomous vehicles
Language: English
Date: 2023
Place of Publication: Darmstadt
Year of primary publication: 2022
Publisher: Springer Nature
Journal or Publication Title: Automotive and Engine Technology
Volume of the journal: 7
Issue Number: 3-4
DOI: 10.26083/tuprints-00023244
Corresponding Links:
Origin: Secondary publication service

The motion control of autonomous vehicles with a modular, service-oriented system architecture poses new challenges, as trajectory-planning and -execution are independent software functions. In this paper, requirements for an encapsulated trajectory tracking control are derived and it’s shown that key differences to conventional vehicles with an integrated system architecture exist, requiring additional attention during controller design. A novel, encapsulated control architecture is presented that incorporates multiple extensions and support functions, fulfilling the derived requirements. It allows the application within the modular architecture without loss of functionality or performance. The controller considers vehicle stability and enables the yaw motion as an independent degree of freedom. The concept is applied and validated within the vehicles of the UNICARagil research project, that feature the previously described system architecture to increase flexibility of application by dynamically interconnecting services based on the current use-case.

Uncontrolled Keywords: Motion control, Modularization, Autonomous driving
Status: Publisher's Version
URN: urn:nbn:de:tuda-tuprints-232442
Classification DDC: 600 Technology, medicine, applied sciences > 620 Engineering and machine engineering
Divisions: 16 Department of Mechanical Engineering > Institute of Automotive Engineering (FZD)
Date Deposited: 17 Feb 2023 09:12
Last Modified: 25 May 2023 06:26
URI: https://tuprints.ulb.tu-darmstadt.de/id/eprint/23244
PPN: 507937376
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