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An Optimal Control Approach To Real-Time Vehicle Guidance

In: Mathematics — Key Technology for the Future

Author

Listed:
  • 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)

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.

Suggested Citation

  • Roland Bulirsch & Martin Vögel & Oskar von Stryk & Cornelius Chucholowski & Thieß-Magnus Wolter, 2003. "An Optimal Control Approach To Real-Time Vehicle Guidance," Springer Books, in: Willi Jäger & Hans-Joachim Krebs (ed.), Mathematics — Key Technology for the Future, pages 84-102, Springer.
    • Handle: RePEc:spr:sprchp:978-3-642-55753-8_8
    DOI: 10.1007/978-3-642-55753-8_8
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