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Review
. 2024 Jan 17;24(2):600.
doi: 10.3390/s24020600.

Review of Integrated Chassis Control Techniques for Automated Ground Vehicles

Viktor Skrickij  1 , Paulius Kojis  2 , Eldar Šabanovič  1 , Barys Shyrokau  3 , Valentin Ivanov  4
Affiliations
Review

Review of Integrated Chassis Control Techniques for Automated Ground Vehicles

Viktor Skrickij et al. Sensors (Basel). .

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.

Keywords: automated driving; control allocation; electric vehicles; integrated chassis control; sensors; vehicle dynamics; vehicle state estimation.

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Conflict of interest statement

The authors declare no conflict of interest.

Figures

Figure 1
Figure 1
Simplified integrated chassis control structures: (a) decentralised, (b) centralised, and (c) coordinated.
Figure 2
Figure 2
The overall structure of the automated vehicle with integrated chassis control.
Figure 3
Figure 3
Sensor systems used in ICC and AD.
Figure 4
Figure 4
Bicycle model.
Figure 5
Figure 5
Main forces acting on the vehicle.
Figure 6
Figure 6
Steering gain of rear wheels (developed by authors, based on [42]).
See this image and copyright information in PMC

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