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, pp. 84-102, Springer-Verlag, [Book Section]
This is the latest version of this item.
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.
| Item Type: | Book Section |
|---|---|
| Erschienen: | 2003 |
| Creators: | Vögel, M. ; Stryk, Oskar von ; Bulirsch, R. ; Wolter, T.-M. ; Chucholowski, C. |
| Title: | An optimal control approach to real-time vehicle guidance |
| Language: | English |
| 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. |
| Title of Book: | Mathematics - Key Technology for the Future |
| Publisher: | Springer-Verlag |
| Divisions: | 20 Department of Computer Science 20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group |
| Date Deposited: | 24 Jun 2019 13:03 |
| Identification Number: | VoegelvonStrykBulirschWolterChucholowski2003 |
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