Print Email Facebook Twitter Review of Integrated Chassis Control Techniques for Automated Ground Vehicles Title Review of Integrated Chassis Control Techniques for Automated Ground Vehicles Author Skrickij, Viktor (Vilnius Gediminas Technical University) Kojis, Paulius (Vilnius Gediminas Technical University) Šabanovič, Eldar (Vilnius Gediminas Technical University) Shyrokau, B. (TU Delft Intelligent Vehicles) Ivanov, Valentin (Ilmenau University of Technology) Date 2024 Abstract Integrated chassis control systems represent a significant advancement in the dynamics of ground vehicles, aimed at enhancing overall performance, comfort, handling, and stability. As vehicles transition from internal combustion to electric platforms, integrated chassis control systems have evolved to meet the demands of electrification and automation. This paper analyses the overall control structure of automated vehicles with integrated chassis control systems. Integration of longitudinal, lateral, and vertical systems presents complexities due to the overlapping control regions of various subsystems. The presented methodology includes a comprehensive examination of state-of-the-art technologies, focusing on algorithms to manage control actions and prevent interference between subsystems. The results underscore the importance of control allocation to exploit the additional degrees of freedom offered by over-actuated systems. This paper systematically overviews the various control methods applied in integrated chassis control and path tracking. This includes a detailed examination of perception and decision-making, parameter estimation techniques, reference generation strategies, and the hierarchy of controllers, encompassing high-level, middle-level, and low-level control components. By offering this systematic overview, this paper aims to facilitate a deeper understanding of the diverse control methods employed in automated driving with integrated chassis control, providing insights into their applications, strengths, and limitations. Subject automated drivingelectric vehiclesintegrated chassis controlvehicle dynamicsvehicle state estimationcontrol allocationsensors To reference this document use: http://resolver.tudelft.nl/uuid:807811a2-faf5-4520-ab84-6c383a7a45af DOI https://doi.org/10.3390/s24020600 ISSN 1424-8220 Source Sensors, 24 (2) Part of collection Institutional Repository Document type review Rights © 2024 Viktor Skrickij, Paulius Kojis, Eldar Šabanovič, B. Shyrokau, Valentin Ivanov Files PDF sensors_24_00600.pdf 1.41 MB Close viewer /islandora/object/uuid:807811a2-faf5-4520-ab84-6c383a7a45af/datastream/OBJ/view