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An optimal control approach to real-time vehicle guidance

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]

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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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