Trajectory Tracking for Automated Driving Functions
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ajectory Tracking for Automated Driving Functions Automated vehicles must detect the environment, recognize situations, and control the vehicle instead of the human driver. The determination of the actuator inputs must realize a trajectory tracking control as accurately as the driver. A component of the lateral trajectory tracking is, for example, a dynamic feedforward control of the course angle, which is described by the TU Dortmund University.
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A U T HOR S
Andreas Homann is Research Assistant at the Institute of Control Theory of the TU Dortmund University in Dortmund (Germany).
Dr.-Ing. Martin Keller is Team Lead Algorithm Development – Automated Driving and Integral Cognitive Safety at ZF Group in Gelsenkirchen (Germany).
© ZF
MOTIVATION
In the future, automated vehicles with higher levels of automation will be an essential component of individual mobility [1]. To realize automation, all tasks that have previously been performed by the human driver must be taken over and executed by the vehicle. This results in a multitude of challenges to be solved, which are described in Lienke et al. [2]. In addition to the detection of the environment, the situation description, recognition, prediction and the planning of the movement of the ego vehicle, the control of the vehicle, through the actuation of the actuators, is one of the tasks to be realized. This is accomplished in a trajectory tracking control, which guides the vehicle as precisely as possible on the planned movement. The human driver has learned the connection between the steering wheel, pedal positions and the vehicle movement through experiences as a passenger and driver over a longer period of time. A trajectory tracking control system must also take these correla-
Univ.-Prof. Dr.-Ing Torsten Bertram is Head of the Institute of Control Theory and Systems Engineering of the TU Dortmund University in Dortmund (Germany).
tions into account. Due to this fact, the consideration of model knowledge for feedforward control of the steering wheel and pedal positions for the trajectory tracking is useful. Furthermore, when driving a vehicle, humans can adapt to the individual characteristics of different vehicles and also correct deviating behavior such as parameter changes or external disturbances. This ability must be equally transferred to the trajectory tracking control. For this purpose, it is necessary to design a vehicle dynamics control system to compensate for different driving behaviors resulting from the time variance of the parameters. Furthermore, in a first step, it makes sense to investigate the influence of the various parameters on the driving behavior, so that an estimation of the effect is possible when a parameter is varied. Especially the lateral response of the vehicle has to be considered due to its many parameter dependencies. FIGURE 1 shows the trajectory tracking control in relation to the trajectory
FIGURE 1 Trajectory tracking control in the context of trajectory planning and the vehicle with the underlying control of the act
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