Encapsulated trajectory tracking control for autonomous vehicles

Abstract The motion control of autonomous vehicles with a modular, service-oriented system architecture poses new challenges, as trajectory-planning and -execution are independent software functions. In this paper, requirements for an encapsulated trajectory tracking derived it’s shown that key differences to conventional integrated exist, requiring additional attention during controller design. A novel, is presented incorporates multiple extensions support functions, fulfilling the requirements. It allows application within modular without loss functionality or performance. considers vehicle stability enables yaw degree freedom. concept applied validated UNICAR agil research project, feature previously described increase flexibility by dynamically interconnecting services based on current use-case.