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Automated driving, technical approach with motion control architecture

  • Dr.-Ing. Thomas Raste is Head of Competence Center Global Chassis Control and Principal Technical Expert Vehicle Dynamics at Continental.

    Continental, Guerickestr. 7, D-60488 Frankfurt/Main

     EMAIL logo     ,

    Dr.-Ing. Stefan Lüke is Head of Advanced Driver Assistants Systems and ContiGuard at Continental.

    Continental, Guerickestr. 7, D-60488 Frankfurt/Main

         and

    Dipl.-Ing. Alfred Eckert is Director Advanced Engineering, Division Chassis and Safety, at Continental.

    Continental, Guerickestr. 7, D-60488 Frankfurt/Main
Published/Copyright: March 10, 2015
at - Automatisierungstechnik
From the journal at - Automatisierungstechnik Volume 63 Issue 3

Abstract

Automated Driving is the key technology for greater safety, comfort and efficiency in personal transportation. Motion Control ensures that the high-level behavior planning is carried out properly even in case of failures and disturbances. Based on the flatness property a feedforward trajectory control is obtained to ensure lateral motion along prescribed trajectories. An optimal state feedback control reduces the effects of disturbances like side wind or road bank to a minimum.

Zusammenfassung

Automatisiertes Fahren ist die Schlüsseltechnologie für erhöhte Sicherheit, Komfort und Effizienz im Straßenverkehr. Motion Control sorgt dafür, dass die Vorgaben von höher gelagerten Planungsebenen präzise ausgeführt werden auch im Fehlerfall und unter Störeinflüssen. Auf der Grundlage der Flachheitseigenschaft wird eine Bahnsteuerung entworfen, durch die eine Querführung entlang gewünschter Trajektorien sichergestellt ist. Ein optimaler Zustandsregler reduziert die Einflüsse von Störungen wie Seitenwind oder Straßenneigung.

Schlagwörter: Flache Systeme; Fahrdynamik; Bahnsteuerung; Bewegungssteuerung; Automatisiertes Fahren
Keywords: Flat systems; vehicle dynamics; trajectory control; motion control; automated driving

About the authors

Thomas Raste

Dr.-Ing. Thomas Raste is Head of Competence Center Global Chassis Control and Principal Technical Expert Vehicle Dynamics at Continental.

Continental, Guerickestr. 7, D-60488 Frankfurt/Main

Stefan Lüke

Dr.-Ing. Stefan Lüke is Head of Advanced Driver Assistants Systems and ContiGuard at Continental.

Continental, Guerickestr. 7, D-60488 Frankfurt/Main

Alfred Eckert

Dipl.-Ing. Alfred Eckert is Director Advanced Engineering, Division Chassis and Safety, at Continental.

Continental, Guerickestr. 7, D-60488 Frankfurt/Main

Received: 2014-10-1
Accepted: 2014-12-19
Published Online: 2015-3-10
Published in Print: 2015-3-28

©2015 Walter de Gruyter Berlin/Boston

Articles in the same Issue

  1. Frontmatter
  2. Editorial
  3. Automated Driving
  4. Methoden
  5. Autonomous driving – a top-down-approach
  6. Anwendungen
  7. Einführungsstrategie des Automatischen Fahrens
  8. Bosch's approach toward automated driving
  9. Automated driving, technical approach with motion control architecture
  10. Riccati-Trajektorienoptimierung für den aktiven Fußgängerschutz
  11. Behavioral strategies of automated vehicles in critical right of way situations on intersections
https://doi.org/10.1515/auto-2014-1148
Keywords for this article
Flat systems; vehicle dynamics; trajectory control; motion control; automated driving

Articles in the same Issue

  1. Frontmatter
  2. Editorial
  3. Automated Driving
  4. Methoden
  5. Autonomous driving – a top-down-approach
  6. Anwendungen
  7. Einführungsstrategie des Automatischen Fahrens
  8. Bosch's approach toward automated driving
  9. Automated driving, technical approach with motion control architecture
  10. Riccati-Trajektorienoptimierung für den aktiven Fußgängerschutz
  11. Behavioral strategies of automated vehicles in critical right of way situations on intersections
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