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RISS 인기검색어
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- 저자 : Adriana Tapus (검색결과 2 건)
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Extensible Control Architecture for Over-Actuated Vehicles
Moad Kissai,Xavier Mouton,Bruno Monsuez,Adriana Tapus 제어로봇시스템학회 2019 제어로봇시스템학회 국제학술대회 논문집 Vol.2019 No.10
Most of today’s passenger cars are over-actuated. This over-actuation is expected to grow going towards self-driving cars. However, the necessary systems that would be needed for a safe and a comfortable autonomous driving remain uncertain. This paper aims to provide an extensible control architecture that does not depend on a particular system combination. Car manufacturers tend to develop ad hoc rule-based strategies for a specific set of integrated systems. Through several realistic scenarios, we have shown that the control architecture proposed in this paper can be adopted for different set of integrated systems. A minimal effort is required from the control designer when changing the nature of the systems integrated to adapt the control strategy. The control architecture proposed in this paper can serve as a starting point for the standardization of control architectures for future vehicles motion control.
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A Comprehensive Comparison of Chassis Systems Coordination Approaches
Moad Kissai,Bruno Monsuez,Didier Martinez,Xavier Mouton,Adriana Tapus 제어로봇시스템학회 2018 제어로봇시스템학회 국제학술대회 논문집 Vol.2018 No.10
One of the main concerns of automotive industry is autonomous vehicles. Not only equipment suppliers but also new entering actors are racing to develop safer automotive systems. Consequently, the car manufacturer has to integrate different systems to control the same vehicle. This paper discusses the different architectures adopted to handle chassis systems interactions. Several car manufacturers study the influence of each system on the overall vehicle. They then add an additional coordination layer downstream the different systems to mitigate their possible conflicts. Here we propose a new approach that consists on managing systems interaction upstream the different systems. Coordination is based on control allocation techniques that take into account several vehicle states to find optimal commands distribution. Both approaches have been compared. Simulations showed the benefits that could offer the upstream approach in terms of safety and flexibility. The relevance of this approach is expected to grow with the increasing number of chassis systems.
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