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Predictive feedforward control architecture for the encapsulated motion control of automated vehicles

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. - 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. - 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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