Encapsulated trajectory tracking control for autonomous vehicles

Abstract

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.

Ensuring feasible trajectories for the encapsulated motion control of automated vehicles

“…To demonstrate the avoidance of deficits, simulations are performed in a software-in-the-loop test environment using IPG CarMaker [13], which is equipped with models of the dynamic modules [14] and hence offers support for the realistic analysis of vehicle behavior. Target trajectories are planned at runtime and subsequently executed by the controller proposed in [15].…”

Survey on Teleoperation Concepts for Automated Vehicles

“…4) Trajectory Tracking: Once the vehicle receives the approval, it does the final processing of the trajectory to fit the required input specification. This depends on the controller type (e.g., see Homolla et al [17]), but it is necessary to ensure proper communication with the controller. The vehicle then starts to track the trajectory 5 while streaming the vehicle data to the operator.…”

Optimum Control for Path Tracking Problem of Vehicle Handling Inverse Dynamics

“…Zhou et al [ 8 ] pioneered the use of an adaptive inverse controller to offset the dynamics of the steering system’s backlash. Homolla et al [ 9 ] proposed an encapsulated trajectory tracking controller. Hashemi et al [ 10 ] presented a novel integrated control framework by considering the combined-slip effect, wheel dynamics, and tire force nonlinearities for driver-assistance systems.…”