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Title: Coordinated control architecture for motion management in ADAS systems
Authors: Lin, Tzu-Chi
Ji, Siyuan
Dickerson, Charles E.
Battersby, David
Keywords: Coordinated system
Feed-forward
Feedback control
Integration control
Modeling and simulation
Tire modeling
Vehicle modeling
Vehicle dynamics control
Issue Date: 2018
Publisher: Institute of Electrical and Electronics Engineers
Citation: LIN, T-C. ...et al., 2018. Coordinated control architecture for motion management in ADAS systems. IEEE Caa Journal of Automatica Sinica, 5(2), pp.432-444.
Abstract: 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.
Description: © 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works
Sponsor: This work is sponsored by the Programme for Simulation Innovation (PSI). A partnership between Jaguar Land Rover and UK EPSRC grant EP/K014226/1.
Version: Accepted for publication
DOI: 10.1109/JAS.2017.7510814
URI: https://dspace.lboro.ac.uk/2134/28358
Publisher Link: https://doi.org/10.1109/JAS.2017.7510814
ISSN: 2329-9266
Appears in Collections:Published Articles (Mechanical, Electrical and Manufacturing Engineering)

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