Intelligent Autonomous Vehicles
Intelligent Autonomous Vehicles
Intelligent Autonomous Vehicles
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CERMA 2007 / Tutorial<br />
Control Layers<br />
CONTROL:<br />
Computational<br />
Architectures<br />
Task Control<br />
High Level<br />
Hierarchical Control<br />
Adaptive Control<br />
<strong>Intelligent</strong> Control<br />
Set Point<br />
Low Level<br />
Control Loop<br />
Control<br />
Pyramid<br />
<strong>Intelligent</strong> <strong>Autonomous</strong> <strong>Vehicles</strong><br />
6<br />
CERMA 2007 / Tutorial<br />
Control Layers - Low Level<br />
[Kelber<br />
et al., IEEE ISIE 2005]<br />
Set Point<br />
Low Level<br />
Joystick control interface<br />
Control Loop<br />
Distance Controller<br />
ACC with Stop and Go<br />
Control:<br />
Low Level<br />
<strong>Intelligent</strong> <strong>Autonomous</strong> <strong>Vehicles</strong><br />
Steering Controller / Lane Follow<br />
6<br />
4
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