Vertical Trajectory Planning for Autonomous Vehicles

Jurisch, Matthias; Koch, Thorsten

doi:10.1007/978-3-658-33466-6_24

Cited by 1 publication

(1 citation statement)

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“…The principle of vertical trajectory planning for active suspension control of automated vehicles has been introduced in previous publications [14,19]. It enables optimal control of roll-, pitch, and heave motion with regard to passenger comfort.…”

Section: Description Of the System Under Testmentioning

confidence: 99%

Simulation-Based Testing of Subsystems for Autonomous Vehicles at the Example of an Active Suspension Control System

Landersheim

Jurisch²,

Bartolozzi

et al. 2022

Electronics

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Automated driving functions are expected to increase both the safety and ride comfort of future vehicles. Ensuring their functional safety and optimizing their performance requires thorough testing. Costs and duration of tests can be reduced if more tests can be performed numerically in a feasible simulation framework. This simulation setup must include all subsystems of the autonomous vehicle, which significantly interact with the system under test. In this paper, a modular model chain is presented, which is developed for testing systems with an impact on vehicle motion. It includes trajectory planning, motion control, and a model of the vehicle dynamics in a closed loop. Each subsystem can easily be exchanged to adapt the model chain with respect to the simulation objectives. As a use case, the testing of an active suspension control system is discussed. It is designed directly for use in autonomous cars and uses inputs from the vehicle motion planning subsystem for planning the suspension actuator motion. Using the presented closed-loop model chain, the effect of different actuator control strategies on ride comfort is compared, such as curve tilting. Furthermore, the impact of the active suspension system on lateral vehicle motion is shown.

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Section: Description Of the System Under Testmentioning

confidence: 99%