Coordinated Control Architecture for Motion Management in ADAS Systems

Tzu-Chi Lin; Siyuan Ji; Charles E. Dickerson; David Battersby

doi:10.1109/JAS.2017.7510814

Volume 5 Issue 2

Mar. 2018

IEEE/CAA Journal of Automatica Sinica

JCR Impact Factor: 15.3, Top 1 (SCI Q1)

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Article Navigation > IEEE/CAA Journal of Automatica Sinica > 2018 > 5(2): 432-444

Tzu-Chi Lin, Siyuan Ji, Charles E. Dickerson and David Battersby, "Coordinated Control Architecture for Motion Management in ADAS Systems," IEEE/CAA J. Autom. Sinica, vol. 5, no. 2, pp. 432-444, Feb. 2018. doi: 10.1109/JAS.2017.7510814

Citation:

Tzu-Chi Lin, Siyuan Ji, Charles E. Dickerson and David Battersby, "Coordinated Control Architecture for Motion Management in ADAS Systems," IEEE/CAA J. Autom. Sinica, vol. 5, no. 2, pp. 432-444, Feb. 2018. doi: 10.1109/JAS.2017.7510814

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Coordinated Control Architecture for Motion Management in ADAS Systems

doi: 10.1109/JAS.2017.7510814

1.
Wolfson School of Mechanical, Electrical and Manufacturing Engineering, Loughborough University, Loughborough, LE11 3TU, UK
2.
Jaguar Land Rover, Gaydon, CV35 0RR, UK

Funds:

A partnership between Jaguar Land Rover and UK EPSRC EP/K014226/1

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Author Bio:
Tzu-Chi Lin received the Ph.D.degree in electronics and electrical control engineering from the University of Sheffield, Sheffield, United Kingdom, in 2015.He was a Researcher with Jaguar Land Rover and Loughborough University in Programme for Simulation Innovation focusing on the research in vehicle dynamics control.He is now a Research Engineer with Warwick Manufacturing Group, Coventry, United Kingdom, in responsible for designing the control algorithms for energy efficient autonomous vehicles.
His research interests include power electronics, sensored and sensorless control of permanent-magnet brushless machines, wind-power generation and the energy management system for electric vehicles or connected and autonomous vehicles. (e-mail: e121287208@hotmail.com)

Siyuan Ji (M'16) received the Ph.D.degree in physics from University of Nottingham, Nottingham, United Kingdom, in 2015.
He is currently a Research Associate at Wolfson School of Mechanical, Electrical, and Manufacturing Engineering of Loughborough University, United Kingdom. His research focuses on mathematicalbased systems engineering methodologies and design algorithms for complex systems and system of systems.Dr.Ji is a member of the IET and a member of the OMG. (e-mail: s.ji@lboro.ac.uk)

Charles E.Dickerson (M'08-SM'17) is Chair of Systems Engineering at Loughborough University and a Principal Investigator of complex vehicle system analysis in the Programme for Simulation Innovation.
His research and design experience includes MIT Lincoln Laboratory, the Lockheed Skunkworks and Northrop Advanced Systems.He is a Senior Member of the IEEE, the Assistant Director for Analytic Enablers at INCOSE, and Chair of the Mathematical Formalism SIG at OMG. (e-mail: c.dickerson@lboro.ac.uk)

David Battersby is the Senior Manager Software Architecture responsible for Systems Engineering of Jaguar Land Rover's software platform to meet the ever increasing need for advanced software features.
He is the industrial theme leader for analysis of the vehicle as a complex system within the joint Jaguar Land Rover, EPSRC funded Programme for Simulation Innovation.His career has included systems and software engineering within both automotive and defence industries in addition to involvement in a number of high profile industrial academic research collaborations. (e-mail: dbatters@jaguarlandrover.com)
Corresponding author: Tzu-Chi Lin, e-mail: e121287208@hotmail.com;
Received Date: 2017-09-07
Accepted Date: 2018-01-09

Abstract

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.
- Coordinated system,
- feed-forward and feedback control,
- integration control,
- modeling and simulation,
- tire modeling,
- vehicle modeling,
- vehicle dynamics control

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References(43)

References

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Coordinated Control Architecture for Motion Management in ADAS Systems

doi: 10.1109/JAS.2017.7510814

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