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Coordinated control.Architecture for Motion Management in ADAS Systems

IEEE/CAA Journal of Automatica Sinica 2018年第2期5卷 432-444页

作者： Tzu-Chi Lin Siyuan Ji Charles E. Dickerson David Battersby the wolfson school of mechanical electrical and manufacturing engineeringloughborough universityLoughhoroughLE11 3TUUK jaguar land rover GaydonCV35 0RRUK ieee

Advanced driver assistance systems(ADAS) seek to provide drivers and passengers of automotive vehicles increased safety and comfort. Original equipment manufacturers are integrating and developing systems for distance keeping, lane keeping and changing and other functionalities. The modern automobile is a complex system of systems. How the functionalities of advanced driver assistance are implemented and coordinated across the systems of the vehicle is generally not made available to the wider research community by the developers and manufactures. This paper seeks to begin filling this gap by assembling open source physics models of the vehicle dynamics and ADAS command models. Additionally, in order to facilitate ADAS development and testing without having access to the details of ADAS, a coordinated control.architecture for motion management is also proposed for distributing ADAS motion control.commands over vehicle systems. The architecture is demonstrated in a case study where motion is coordinated between the steering and the braking systems, which are typically used only for a single functionality. The integrated vehicle and system dynamics using the coordinated control.architecture are simulated for various driving tasks. It is seen that improved trajectory following can be achieved by the proposed coordinated control.architecture. The models, simulations and control.architecture are made available for open access.

关键词： Index Terms-Coordinated system feed-forward and feedbackcontrol integration control modeling and simulation tire mod-eling vehicle modeling vehicle dynamics control.

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