@inproceedings{c40a6324958a466e8f40a9c315250675,
title = "Extensible Control Architecture for Over-Actuated Vehicles",
abstract = "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.",
keywords = "Control Allocation, Control Architecture, Extensibility, Robust Control, Vehicle Motion Control",
author = "Moad Kissai and Xavier Mouton and Bruno Monsuez and Adriana Tapus",
note = "Publisher Copyright: {\textcopyright} 2019 Institute of Control, Robotics and Systems - ICROS.; 19th International Conference on Control, Automation and Systems, ICCAS 2019 ; Conference date: 15-10-2019 Through 18-10-2019",
year = "2019",
month = oct,
day = "1",
doi = "10.23919/ICCAS47443.2019.8971522",
language = "English",
series = "International Conference on Control, Automation and Systems",
publisher = "IEEE Computer Society",
pages = "263--269",
booktitle = "ICCAS 2019 - 2019 19th International Conference on Control, Automation and Systems, Proceedings",
}