11 Vehicle Control in ADAS Applications: State of the Art

Joshué Pérez, David Gonzalez and Vicente Milanés

National Institute for Research in Computer Science and Control (INRIA), Le Chesnay, France

11.1 Introduction

The aim of the Advanced Driver Assistance Systems (ADAS) is mainly linked to aid drivers in safety critical situations rather than to replace them. However, in recent years, many research advances have been done in this field, indicating that fully autonomous driving is closer to becoming a reality. In the literature, the control of autonomous vehicles is divided into lateral and longitudinal actions.

The purpose of this work, dealing with the development of Arbitration and Control strategies and algorithms, is to analyse the existing vehicle control solutions for future autonomous and semi-autonomous vehicles. Both longitudinal and lateral control will be addressed, and these perspectives will consider the driver in the control loop.

This chapter is structured as follows: Section 11.2 describes the vehicle control solutions in ADAS applications. Different control levels are defined in Section 11.3. Some of the most relevant and related previous works (research level) are presented in Section 11.4. A general description of key factors for vehicle control applications (based on ADAS) in the market is presented in Section 11.5. Section 11.6 describes some applications and experimental platforms. Finally, conclusions are given in Section 11.7.

11.2 Vehicle ...

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