The state of the art in automotive control has proposed several analytical, simulation and experimental studies of longitudinal adaptive cruise control strategies, and of lateral control strategies. However, methodical integration of these two strategies is to a large extent missing, as well as validation in real-time computing environment of the safety and performance of longitudinal and lateral integrated solutions. This work proposes a real-time validation of an integrated vehicle dynamic control strategy, designed to create safe interaction between longitudinal and lateral controllers: the integrated system is designed, implemented and tested through Dynacar, a real-time simulation environment for the development and validation of vehicle embedded functionalities. The results show that the proposed integrated controller satisfies the performance in terms of real-time computation, path tracking and collision avoidance for various driving situations.

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http://dx.doi.org/10.1016/j.ifacol.2017.08.2228 under the license https://www.elsevier.com/tdm/userlicense/1.0/
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Published on 01/01/2017

Volume 2017, 2017
DOI: 10.1016/j.ifacol.2017.08.2228
Licence: Other

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