Robust Control for Over-Actuated Vehicles

Kissai, Moad; Monsuez, Bruno; Martinez, Didier; Mouton, Xavier; Tapus, Adriana

doi:10.1109/ccta.2019.8920395

Cited by 3 publications

(5 citation statements)

References 22 publications

(33 reference statements)

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“…In previous papers, a co-simulation procedure has been privileged [11], [27], [29]. The idea is to use a high-fidelity platform as LMS Imagine.Lab AMESim ® , and couple it with a control programing software as Matlab ® to provide more realistic simulation results.…”

Section: Simulation Resultsmentioning

confidence: 99%

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Optimal Coordination of Chassis Systems in Simultaneous Operations

Kissai¹,

Monsuez²,

Tapus³

et al. 2020

SAE Intl. J CAV

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Many research projects are focusing on automated vehicles and reinventing the automotive industry. New technologies are introduced, and the pillars of the ground vehicle are revisited and new challenges appeared. This paper focuses on the chassis systems and their control strategies. While assistance strategies use to manage specific operations, autonomous vehicles need to handle simultaneous operations. Optimal solutions for systems coordination are discussed in this paper. Results show that the more we get closer to full autonomous driving where an important number of embedded systems is needed, the more optimal coordination strategies are relevant. These strategies should be considered in the upcoming automotive industrial standards.

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Section: Simulation Resultsmentioning

confidence: 99%

“…Secondly, we add a comfort requirement to tune the control allocator outputs as shown in [29] through vehicle's acceleration tuning while avoiding rank deficiency problems.…”

Section: Control Allocatormentioning

confidence: 99%

Optimal Coordination of Chassis Systems in Simultaneous Operations

Kissai¹,

Monsuez²,

Tapus³

et al. 2020

SAE Intl. J CAV

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“…The final component is the low-level control; commonly, the developer of actuators proposes both hardware and software. Therefore, their inner dynamics may be uncertain for the automotive manufacturer, and integrating several systems requires additional testing [ 180 ].…”

Section: Common Controller Layout For Automated Vehiclesmentioning

confidence: 99%

Review of Integrated Chassis Control Techniques for Automated Ground Vehicles

Skrickij,

Kojis,

Šabanovič

et al. 2024

Sensors

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Integrated chassis control systems represent a significant advancement in the dynamics of ground vehicles, aimed at enhancing overall performance, comfort, handling, and stability. As vehicles transition from internal combustion to electric platforms, integrated chassis control systems have evolved to meet the demands of electrification and automation. This paper analyses the overall control structure of automated vehicles with integrated chassis control systems. Integration of longitudinal, lateral, and vertical systems presents complexities due to the overlapping control regions of various subsystems. The presented methodology includes a comprehensive examination of state-of-the-art technologies, focusing on algorithms to manage control actions and prevent interference between subsystems. The results underscore the importance of control allocation to exploit the additional degrees of freedom offered by over-actuated systems. This paper systematically overviews the various control methods applied in integrated chassis control and path tracking. This includes a detailed examination of perception and decision-making, parameter estimation techniques, reference generation strategies, and the hierarchy of controllers, encompassing high-level, middle-level, and low-level control components. By offering this systematic overview, this paper aims to facilitate a deeper understanding of the diverse control methods employed in automated driving with integrated chassis control, providing insights into their applications, strengths, and limitations.

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“…For energy consumption optimization, the works in [18] and [19] provide good guidelines. Motion feelings objectives are discussed in [10] and [20]. The control designer can select the corresponding objectives to the control specifications, formalize the problem as shown in equation (15), and finally use the ASA algorithm.…”

Section: Case Of Ars-vdc Coordinationmentioning

confidence: 99%

“…The total required efforts are then optimally distributed into the corresponding systems. The weighting matrices W i can be tuned to favor one system over another in a dynamic way according to the driving mode [20].…”

Section: Case Of Ars-vdc-tv-sbw Coordinationmentioning

confidence: 99%

Extensible Control Architecture for Over-Actuated Vehicles

Kissai¹,

Mouton²,

Monsuez³

et al. 2019

2019 19th International Conference on Control, Automation and Systems (ICCAS)

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Most of today's passenger cars are over-actuated. This over-actuation is expected to grow going towards self-driving cars. However, the necessary systems that would be needed for a safe and a comfortable autonomous driving remain uncertain. This paper aims to provide an extensible control architecture that does not depend on a particular system combination. Car manufacturers tend to develop ad hoc rule-based strategies for a specific set of integrated systems. Through several realistic scenarios, we have shown that the control architecture proposed in this paper can be adopted for different set of integrated systems. A minimal effort is required from the control designer when changing the nature of the systems integrated to adapt the control strategy. The control architecture proposed in this paper can serve as a starting point for the standardization of control architectures for future vehicles motion control.

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Robust Control for Over-Actuated Vehicles

Cited by 3 publications

References 22 publications

Optimal Coordination of Chassis Systems in Simultaneous Operations

Optimal Coordination of Chassis Systems in Simultaneous Operations

Review of Integrated Chassis Control Techniques for Automated Ground Vehicles

Extensible Control Architecture for Over-Actuated Vehicles

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