An optimal control approach to real-time vehicle guidance. (English) Zbl 1039.49033

Bulirsch, Roland; Vögel, Martin; von Stryk, Oskar; Chucholowski, Cornelius; Wolter, Thieß-Magnus

Jäger, Willi (ed.) et al., Mathematics – key technology for the future. Joint projects between universities and industry. Berlin: Springer (ISBN 3-540-44220-0/hbk). 84-102 (2003).

Summary: 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.
For the entire collection see [Zbl 1016.00014].

MSC:

49N90	Applications of optimal control and differential games
49K15	Optimality conditions for problems involving ordinary differential equations

Keywords:

optimal control; vehicle dynamics; direct collocation method

Software:

DIRCOL; MBSPACK