Vögel, M. ; Stryk, Oskar von ; Bulirsch, R. ; Wolter, T.-M. ; Chucholowski, C. (2003)
An optimal control approach to real-time vehicle guidance.
In: Mathematics - Key Technology for the Future
Buchkapitel, Bibliographie
Dies ist die neueste Version dieses Eintrags.
Kurzbeschreibung (Abstract)
A newly developed two-level driver model is presented. On the anticipation level, optimal control problems for a reduced vehicle dynamics model are solved repeatedly on a moving prediction horizon to yield near optimal setpoint trajectories for the full model. On the stabilization level, a nonlinear position controller is developed to accurately track the setpoint trajectories with a full motor vehicle dynamics model in real-time. The formulation of the optimal control problems on the anticipation level is based on a nonlinear single track model which is extended by a complex tire model and further nonlinear model details such as to match the main properties of the full vehicle dynamics model. The optimal control problems are solved efficiently by a recently developed sparse direct collocation method. Numerical results for various vehicle maneuvers are presented, including a time-optimal double lane change at high speed.
| Typ des Eintrags: | Buchkapitel |
|---|---|
| Erschienen: | 2003 |
| Autor(en): | Vögel, M. ; Stryk, Oskar von ; Bulirsch, R. ; Wolter, T.-M. ; Chucholowski, C. |
| Art des Eintrags: | Bibliographie |
| Titel: | An optimal control approach to real-time vehicle guidance |
| Sprache: | Englisch |
| Publikationsjahr: | 2003 |
| Verlag: | Springer-Verlag |
| Buchtitel: | Mathematics - Key Technology for the Future |
| Zugehörige Links: | |
| Kurzbeschreibung (Abstract): | A newly developed two-level driver model is presented. On the anticipation level, optimal control problems for a reduced vehicle dynamics model are solved repeatedly on a moving prediction horizon to yield near optimal setpoint trajectories for the full model. On the stabilization level, a nonlinear position controller is developed to accurately track the setpoint trajectories with a full motor vehicle dynamics model in real-time. The formulation of the optimal control problems on the anticipation level is based on a nonlinear single track model which is extended by a complex tire model and further nonlinear model details such as to match the main properties of the full vehicle dynamics model. The optimal control problems are solved efficiently by a recently developed sparse direct collocation method. Numerical results for various vehicle maneuvers are presented, including a time-optimal double lane change at high speed. |
| Fachbereich(e)/-gebiet(e): | 20 Fachbereich Informatik 20 Fachbereich Informatik > Simulation, Systemoptimierung und Robotik |
| Hinterlegungsdatum: | 24 Jun 2019 13:03 |
| Letzte Änderung: | 24 Jun 2019 13:03 |
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| Suche nach Titel in: | TUfind oder in Google |
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