An Optimal Control Approach To Real-Time Vehicle Guidance

Roland Bulirsch, Martin Vögel, Oskar von Stryk, Cornelius Chucholowski and Thieß-Magnus Wolter
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Roland Bulirsch: Technische Universität München
Martin Vögel: Technische Universität München
Oskar von Stryk: Technische Universität München
Cornelius Chucholowski: Tesis DYNAware GmbH
Thieß-Magnus Wolter: Tesis DYNAware GmbH

A chapter in Mathematics — Key Technology for the Future, 2003, pp 84-102 from Springer

Abstract: 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.

Keywords: Optimal Control Problem; Sequential Quadratic Programming; Side Slip Angle; Driver Model; Tire Model (search for similar items in EconPapers)
Date: 2003
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Persistent link: https://EconPapers.repec.org/RePEc:spr:sprchp:978-3-642-55753-8_8

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DOI: 10.1007/978-3-642-55753-8_8

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