Homolla, Tobias ; Winner, Hermann (2022)
Predictive feedforward control architecture for the encapsulated motion control of automated vehicles.
15th International Symposium on Advanced Vehicle Control (AVEC '22). Kanagawa, Japan (12.09.2022-15.09.2022)
Konferenzveröffentlichung, Bibliographie
Kurzbeschreibung (Abstract)
The motion control of automated vehicles consists of the two sub-functions trajectory planning and execution. Within modular, service-oriented system architectures, the encapsulation of the two sub-functions allows the exploitation of architectural advantages. The resulting loose coupling leads to challenges such as a fundamental asynchrony. To achieve a desirable transient behavior during trajectory execution, the use of planned future system states through predictive feedforward control is required. In this paper, such a feedforward control architecture based on FIR filters is presented and experimentally validated. The method allows to execute the transient vehicle behavior open-loop and thus to overcome the aforementioned challenges.
| Typ des Eintrags: | Konferenzveröffentlichung |
|---|---|
| Erschienen: | 2022 |
| Autor(en): | Homolla, Tobias ; Winner, Hermann |
| Art des Eintrags: | Bibliographie |
| Titel: | Predictive feedforward control architecture for the encapsulated motion control of automated vehicles |
| Sprache: | Englisch |
| Publikationsjahr: | 14 September 2022 |
| Ort: | Kanagawa |
| Verlag: | Society of Automotive Engineers of Japan, Inc. |
| Buchtitel: | Proceedings of the 15th International Symposium on Advanced Vehicle Control |
| Veranstaltungstitel: | 15th International Symposium on Advanced Vehicle Control (AVEC '22) |
| Veranstaltungsort: | Kanagawa, Japan |
| Veranstaltungsdatum: | 12.09.2022-15.09.2022 |
| URL / URN: | https://tech.jsae.or.jp/paperinfo/en/content/conf2022-01/ |
| Kurzbeschreibung (Abstract): | The motion control of automated vehicles consists of the two sub-functions trajectory planning and execution. Within modular, service-oriented system architectures, the encapsulation of the two sub-functions allows the exploitation of architectural advantages. The resulting loose coupling leads to challenges such as a fundamental asynchrony. To achieve a desirable transient behavior during trajectory execution, the use of planned future system states through predictive feedforward control is required. In this paper, such a feedforward control architecture based on FIR filters is presented and experimentally validated. The method allows to execute the transient vehicle behavior open-loop and thus to overcome the aforementioned challenges. |
| Freie Schlagworte: | Autonomous Driving Systems, Chassis Control, Encapsulation, UNICARagil |
| Zusätzliche Informationen: | Artikel Nr.: 20229376 |
| Fachbereich(e)/-gebiet(e): | 16 Fachbereich Maschinenbau 16 Fachbereich Maschinenbau > Fachgebiet Fahrzeugtechnik (FZD) |
| TU-Projekte: | Bund/BMBF|16EMO0286|UNICARagil |
| Hinterlegungsdatum: | 20 Feb 2023 07:17 |
| Letzte Änderung: | 20 Feb 2023 07:17 |
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