Verfahren zur Korrektur von inkonsistenten Lokalisierungsdaten in modularen technischen Systemen

Homolla, Tobias; Gottschalg, Grischa; Winner, Hermann

doi:10.26083/tuprints-00018522

Cited by 1 publication

(3 citation statements)

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“…1 Sideways parking of UNICAR agil vehicle "autoSHUTTLE" with 90 • wheel steering angle on all wheels, utilizing the independent dynamics modules cific sensor errors, the controller will try to compensate for this offset. It is therefore mandatory that the controller includes a mechanism that monitors the offset and guarantees that no control action will be derived from it [13]. To prevent growing tracking errors, it is also mandatory that the effects of earth curvature are compensated within the controller.…”

Section: Requirementsmentioning

confidence: 99%

“…To resolve the problem caused by deviating vehicle poses, estimated by different localization functions, a pose offset correction mechanism is proposed [13]. The system monitors the offset between the pose from which a target trajectory was planned and the pose a second localization function estimated at the same time.…”

Section: Pose Offset Correctionmentioning

confidence: 99%

“…The estimated state values undergo the previously described offset correction to prevent control deviation based on differences in pose estimation by the two localization functions. To calculate the pose offset, the current trajectory is needed, as it includes the pose on which it was planned on [13].…”

Section: Overall Service Architecturementioning

confidence: 99%

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Encapsulated trajectory tracking control for autonomous vehicles

Homolla

Winner

2022

Automot. Engine Technol.

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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.

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Section: Requirementsmentioning

confidence: 99%

Section: Pose Offset Correctionmentioning

confidence: 99%