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.


    Access

    Download


    Export, share and cite



    Title :

    Encapsulated trajectory tracking control for autonomous vehicles


    Contributors:

    Publication date :

    2023



    Type of media :

    Miscellaneous


    Type of material :

    Electronic Resource


    Language :

    Unknown




    LSTM-Based Trajectory Tracking Control for Autonomous Vehicles

    Yu, Jia / Zhang, Ming / Chen, ShiChang et al. | SAE Technical Papers | 2022


    LSTM-Based Trajectory Tracking Control for Autonomous Vehicles

    Chen, ShiChang / Yin, Zhishuai / Yu, Jia et al. | British Library Conference Proceedings | 2022


    Robust trajectory tracking control for underactuated autonomous underwater vehicles

    Heshmati Alamdari, Shahab / Nikou, Alexandros / Dimarogonas, Dimos V. | BASE | 2019

    Free access

    Adaptive Finite Time Trajectory Tracking Control of Autonomous Vehicles

    Zhang, Ting / Xue, Jiaqi / Jiao, Xiaohong et al. | IEEE | 2020


    Comparison of trajectory tracking controllers for autonomous vehicles

    Calzolari, Davide / Schurmann, Bastian / Althoff, Matthias | IEEE | 2017