Extensible Control Architecture for Over-Actuated Vehicles

Moad Kissai (1) , Xavier Mouton (2) , Bruno Monsuez (1) , Adriana Tapus (1)

1 U2IS - Unité d'Informatique et d'Ingénierie des Systèmes
2 Groupe Renault

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.

Mots clés: Control Architecture; Vehicle Motion Control; Robust Control; Control Allocation; Extensibility

Domaines: Robotique [cs.RO]

Moad Kissai, Xavier Mouton, Bruno Monsuez, Adriana Tapus. Extensible Control Architecture for Over-Actuated Vehicles. The 19th International Conference on Control, Automation, and Systems (ICCAS), 2019, Jeju Island, South Korea. ⟨10.23919/ICCAS47443.2019.8971522⟩. ⟨hal-02446918⟩