The paper "Review of Integrated Chassis Control Techniques for Automated Ground Vehicles" by Viktor Skrickij, Paulius Kojis, Eldar Šabanovič, Barys Shyrakau, and Valentin Ivanov provides a comprehensive analysis of integrated chassis control (ICC) systems in automated ground vehicles. The authors define ICC as a complex system that integrates multiple active subsystems such as brakes, steering, suspension, and electric motors to enhance vehicle dynamics, safety, comfort, and energy efficiency. The paper highlights the challenges and advancements in ICC, particularly in the context of electric vehicles (EVs) and automation. Key contributions of the paper include: 1. Systematizing knowledge of ICC, focusing on path tracking (PT) as a critical task in automated driving. 2. Presenting a systematic overview of various control methods used in ICC and PT, including sensing, state estimation, reference generation, and controller hierarchies. The paper also reviews the literature on ICC, categorizing systems into five types based on the integration of longitudinal, lateral, and vertical dynamics. It discusses the advantages and limitations of different control architectures, such as decentralized, centralized, and coordinated structures. The authors emphasize the importance of sensor fusion and data preprocessing in enhancing the performance of ICC systems. The paper further details the common controller layout for automated vehicles, including high-level, middle-level, and low-level controllers, and the role of control allocation in managing actuator saturation and constraints. It also explores vehicle state estimation techniques, such as Kalman filters, and the evaluation of reference parameters considering actuator saturation. Overall, the paper aims to provide a deeper understanding of the diverse control methods employed in automated driving with integrated chassis control, highlighting their applications, strengths, and limitations.The paper "Review of Integrated Chassis Control Techniques for Automated Ground Vehicles" by Viktor Skrickij, Paulius Kojis, Eldar Šabanovič, Barys Shyrakau, and Valentin Ivanov provides a comprehensive analysis of integrated chassis control (ICC) systems in automated ground vehicles. The authors define ICC as a complex system that integrates multiple active subsystems such as brakes, steering, suspension, and electric motors to enhance vehicle dynamics, safety, comfort, and energy efficiency. The paper highlights the challenges and advancements in ICC, particularly in the context of electric vehicles (EVs) and automation. Key contributions of the paper include: 1. Systematizing knowledge of ICC, focusing on path tracking (PT) as a critical task in automated driving. 2. Presenting a systematic overview of various control methods used in ICC and PT, including sensing, state estimation, reference generation, and controller hierarchies. The paper also reviews the literature on ICC, categorizing systems into five types based on the integration of longitudinal, lateral, and vertical dynamics. It discusses the advantages and limitations of different control architectures, such as decentralized, centralized, and coordinated structures. The authors emphasize the importance of sensor fusion and data preprocessing in enhancing the performance of ICC systems. The paper further details the common controller layout for automated vehicles, including high-level, middle-level, and low-level controllers, and the role of control allocation in managing actuator saturation and constraints. It also explores vehicle state estimation techniques, such as Kalman filters, and the evaluation of reference parameters considering actuator saturation. Overall, the paper aims to provide a deeper understanding of the diverse control methods employed in automated driving with integrated chassis control, highlighting their applications, strengths, and limitations.