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Foreword; Preface; Contents; Contributors; Part I Introduction; 1 Introduction to Automated Driving; 1.1 Introduction; 1.2 Levels of Automation; 1.2.1 Scenarios and Impact of Automation Levels 2-5 According to [7]; 1.3 Building Blocks for Automated Driving: Key Technologies; 1.4 Enabling Automated Driving: The Research Challenges; 1.4.1 Demonstrating Safety, Reliability, and Robustness; 1.4.2 Demonstrating Security and Privacy; 1.4.3 Dependable Power Computing; 1.4.4 Human Factor (SAE Level 3/4); 1.4.5 Environment Modeling and Perception; 1.4.6 Vehicle Control and Actuation.
1.4.7 Digital Infrastructure1.5 Conclusion; References; 2 Privacy and Security in Autonomous Vehicles; 2.1 Introduction and Definition of Terminology; 2.2 Principles of Autonomous Driving; 2.2.1 Technological Principles; 2.2.2 Data Principles; 2.3 Status of What Exists Today; 2.4 Future Expectations for Autonomous Driving; 2.5 Building Social Trust; 2.6 Impact on Industry; 2.7 Next Steps; 2.8 Conclusions; 3 Automated Driving from the View of Technical Standards; 3.1 Introduction; 3.2 Standard Developing Organizations; 3.3 Standard Developing Organizations.
3.4 Standard Developing Organizations3.4.1 Vehicle-Related Standards; 3.4.2 Communication-Related Standards; 3.5 Road Map of Automation and Future Standardization; References; Part II The Importance of Control for Automated Driving; 4 Survey on Control Schemes for Automated Driving on Highways; 4.1 Introduction; 4.1.1 Problem Statement; 4.1.2 Trajectory Generation; 4.1.2.1 Polynomial Approach; 4.1.3 Control Concepts; 4.1.3.1 PID Control; 4.1.3.2 Fuzzy Control; 4.1.3.3 Neural Networks; 4.1.3.4 Linear Quadratic Regulator; 4.1.3.5 Feedback Linearization; 4.1.3.6 Sliding Mode Control.
4.1.3.7 Model Predictive Control4.1.3.8 H Control; 4.1.4 Partitioning the Problem; 4.2 Fuzzy Control; 4.3 Linear State Feedback Control; 4.4 Sliding Mode Control; 4.5 Model Predictive Control; 4.6 Other Concepts; 4.7 Autonomous Vehicles; 4.8 Comparison; 4.8.1 Simulation Example; 4.9 Outlook; References; 5 Path Tracking for Automated Driving: A Tutorial on Control System Formulations and Ongoing Research; Nomenclature ; 5.1 Introduction; 5.2 Methods Based on Geometric and Kinematic Relationships; 5.2.1 Pure Pursuit Method; 5.2.2 Stanley Method.
5.2.3 Chained Controller Based on Vehicle Kinematics5.3 Methods Based on Conventional Feedback Controllers and Simplified Vehicle Dynamics Models; 5.3.1 Simple Feedback Formulations; 5.3.2 Linear Quadratic Regulators; 5.3.2.1 Basic Linear Quadratic Formulation; 5.3.2.2 Linear Quadratic Regulator with Feedforward Contribution; 5.3.2.3 Linear Quadratic Regulator with Preview; 5.3.2.4 Frequency-Shaped Linear Quadratic Control; 5.4 Other Control Structures for Path Tracking and Remarks; 5.4.1 Sliding Mode Controllers; 5.4.2 Other Control Structures; 5.4.3 Remarks.
1.4.7 Digital Infrastructure1.5 Conclusion; References; 2 Privacy and Security in Autonomous Vehicles; 2.1 Introduction and Definition of Terminology; 2.2 Principles of Autonomous Driving; 2.2.1 Technological Principles; 2.2.2 Data Principles; 2.3 Status of What Exists Today; 2.4 Future Expectations for Autonomous Driving; 2.5 Building Social Trust; 2.6 Impact on Industry; 2.7 Next Steps; 2.8 Conclusions; 3 Automated Driving from the View of Technical Standards; 3.1 Introduction; 3.2 Standard Developing Organizations; 3.3 Standard Developing Organizations.
3.4 Standard Developing Organizations3.4.1 Vehicle-Related Standards; 3.4.2 Communication-Related Standards; 3.5 Road Map of Automation and Future Standardization; References; Part II The Importance of Control for Automated Driving; 4 Survey on Control Schemes for Automated Driving on Highways; 4.1 Introduction; 4.1.1 Problem Statement; 4.1.2 Trajectory Generation; 4.1.2.1 Polynomial Approach; 4.1.3 Control Concepts; 4.1.3.1 PID Control; 4.1.3.2 Fuzzy Control; 4.1.3.3 Neural Networks; 4.1.3.4 Linear Quadratic Regulator; 4.1.3.5 Feedback Linearization; 4.1.3.6 Sliding Mode Control.
4.1.3.7 Model Predictive Control4.1.3.8 H Control; 4.1.4 Partitioning the Problem; 4.2 Fuzzy Control; 4.3 Linear State Feedback Control; 4.4 Sliding Mode Control; 4.5 Model Predictive Control; 4.6 Other Concepts; 4.7 Autonomous Vehicles; 4.8 Comparison; 4.8.1 Simulation Example; 4.9 Outlook; References; 5 Path Tracking for Automated Driving: A Tutorial on Control System Formulations and Ongoing Research; Nomenclature ; 5.1 Introduction; 5.2 Methods Based on Geometric and Kinematic Relationships; 5.2.1 Pure Pursuit Method; 5.2.2 Stanley Method.
5.2.3 Chained Controller Based on Vehicle Kinematics5.3 Methods Based on Conventional Feedback Controllers and Simplified Vehicle Dynamics Models; 5.3.1 Simple Feedback Formulations; 5.3.2 Linear Quadratic Regulators; 5.3.2.1 Basic Linear Quadratic Formulation; 5.3.2.2 Linear Quadratic Regulator with Feedforward Contribution; 5.3.2.3 Linear Quadratic Regulator with Preview; 5.3.2.4 Frequency-Shaped Linear Quadratic Control; 5.4 Other Control Structures for Path Tracking and Remarks; 5.4.1 Sliding Mode Controllers; 5.4.2 Other Control Structures; 5.4.3 Remarks.