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The following data-flow diagram shows the MLC architecture.

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Trajectory Controller

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The localization combines the IPS vehicle observation with local vehicle sensor data to determine the vehicle pose. If the IPS vehicle observation is delayed or temporarily unavailable, the localization can continue to give accurate poses through dead reckoning. However, the dead reckoning will fail when driving aggressively, i.e. with high wheel slip.TODO (software improvement) the dead reckoning does not account for the sideslip angle, and is thus slightly inconsistent with the IPS pose. cf. BA Johannes Rolf.

Sensor Calibration

The Low Level Controller provides its data as low-resolution integers. The LLC units are chosen to match the required value range and quantization error. The sensor calibration converts the LLC data to floating point values with SI units.

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