, ? A new layer connecting acquisition, perception and decision blocks with the different longitudinal and lateral control applications is considered. This new layer is formed by the YK control framework, and its objective is to ensure stable responses in autonomous driving under dynamics

, Future research directions ? Extension of YK parameterization to intelligent control systems as fuzzy control, neuronal networks and Model Predictive Control (MPC)

, ? Controller reduction methods for iterative (Q, S) applications

, Analysis of effects of switching signal ? frequency in CL stability

, Stable controller reconfiguration between controllers with different purposes needs to be studied. An example would be stable controller reconfiguration between emergency braking and cruise control

, ? Integration of the different CACC solutions in the same YK framework for having a general CACC approach dealing with non-available communication with preceding vehicle, entering/exiting vehicles and different dynamics. The nominal model set in MMAC approach should be increased to obtain a general solution to string heterogeneity

, ? Optimal Q design depending on the identified dual YK parameter S for obtaining the best performance possible when large systems variations are present in the vehicle

, ? YK-based FTC application for dealing with different sensors/actuators availability in autonomous driving

, Application of YK parameterization to lateral control approaches in Intelligent Transpotation Systems (ITS) domain

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