Models and Methodology for Optimal Vehicle Maneuvers Applied to a Hairpin Turn
Berntorp, Karl LU ; Olofsson, Björn LU ; Lundahl, Kristoffer ; Bernhardsson, Bo LU
and Nielsen, Lars
(2013)
American Control Conference, 2013
p.2139-2146
- Abstract
- There is currently a strongly growing interest in obtaining optimal control solutions for vehicle maneuvers, both in order to understand optimal vehicle behavior and to devise improved safety systems, either by direct deployment of the solutions or by including mimicked driving techniques of professional drivers. However, it is nontrivial to find the right mix of models, formulations, and optimization tools to get useful results for the above purposes. Here, a platform is developed based on a state-of-the-art optimization tool together with adoption of existing vehicle models, where especially the tire models are in focus. A minimum-time formulation is chosen to the purpose of gaining insight in at-the-limit maneuvers, with the overall aim... (More)
- There is currently a strongly growing interest in obtaining optimal control solutions for vehicle maneuvers, both in order to understand optimal vehicle behavior and to devise improved safety systems, either by direct deployment of the solutions or by including mimicked driving techniques of professional drivers. However, it is nontrivial to find the right mix of models, formulations, and optimization tools to get useful results for the above purposes. Here, a platform is developed based on a state-of-the-art optimization tool together with adoption of existing vehicle models, where especially the tire models are in focus. A minimum-time formulation is chosen to the purpose of gaining insight in at-the-limit maneuvers, with the overall aim of possibly finding improved principles for future active safety systems. We present optimal maneuvers for different tire models with a common vehicle motion model, and the results are analyzed and discussed. Our main result is that a few-state single-track model combined with different tire models is able to replicate the behavior of experienced drivers. Further, we show that the different tire models give quantitatively different behavior in the optimal control of the vehicle in the maneuver. (Less)
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/3437198
- author
- Berntorp, Karl
LU
; Olofsson, Björn
LU
; Lundahl, Kristoffer
; Bernhardsson, Bo
LU
and Nielsen, Lars
- organization
- publishing date
- 2013
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- keywords
- Automotive, Optimal control
- host publication
- 2013 American Control Conference
- editor
- Astolfi, Alessandro
- pages
- 2139 - 2146
- publisher
- IEEE - Institute of Electrical and Electronics Engineers Inc.
- conference name
- American Control Conference, 2013
- conference location
- Washington, DC, United States
- conference dates
- 2013-06-17 - 2016-06-19
- external identifiers
-
- wos:000327210202052
- scopus:84883549119
- ISSN
- 0743-1619
- ISBN
- 9781479901777
- DOI
- 10.1109/ACC.2013.6580152
- project
- RobotLab LTH
- language
- English
- LU publication?
- yes
- id
- 4f0c67d0-635a-4e95-a1f6-d3aae9f322d8 (old id 3437198)
- date added to LUP
- 2016-04-01 13:07:41
- date last changed
- 2023-04-24 22:05:29
@inproceedings{4f0c67d0-635a-4e95-a1f6-d3aae9f322d8,
abstract = {{There is currently a strongly growing interest in obtaining optimal control solutions for vehicle maneuvers, both in order to understand optimal vehicle behavior and to devise improved safety systems, either by direct deployment of the solutions or by including mimicked driving techniques of professional drivers. However, it is nontrivial to find the right mix of models, formulations, and optimization tools to get useful results for the above purposes. Here, a platform is developed based on a state-of-the-art optimization tool together with adoption of existing vehicle models, where especially the tire models are in focus. A minimum-time formulation is chosen to the purpose of gaining insight in at-the-limit maneuvers, with the overall aim of possibly finding improved principles for future active safety systems. We present optimal maneuvers for different tire models with a common vehicle motion model, and the results are analyzed and discussed. Our main result is that a few-state single-track model combined with different tire models is able to replicate the behavior of experienced drivers. Further, we show that the different tire models give quantitatively different behavior in the optimal control of the vehicle in the maneuver.}},
author = {{Berntorp, Karl and Olofsson, Björn and Lundahl, Kristoffer and Bernhardsson, Bo and Nielsen, Lars}},
booktitle = {{2013 American Control Conference}},
editor = {{Astolfi, Alessandro}},
isbn = {{9781479901777}},
issn = {{0743-1619}},
keywords = {{Automotive; Optimal control}},
language = {{eng}},
pages = {{2139--2146}},
publisher = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}},
title = {{Models and Methodology for Optimal Vehicle Maneuvers Applied to a Hairpin Turn}},
url = {{https://lup.lub.lu.se/search/files/3174945/3813989.pdf}},
doi = {{10.1109/ACC.2013.6580152}},
year = {{2013}},
}