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Homotopic Optimization for Autonomous Vehicle Maneuvering

Zhou, Jian ; Balachandran, Arvind ; Olofsson, Björn LU ; Nielsen, Lars and Frisk, Erik (2024) 2024 IEEE Intelligent Vehicles Symposium (IV)
Abstract
Optimization of vehicle maneuvers using dynamic models in constrained spaces is challenging. Homotopic optimization, which has shown success for vehicle maneuvers with kinematic models, is studied in the case where the vehicle model is governed by dynamic equations considering road-tire interactions. This method involves a sequence of optimization problems that start with a large free space. By iteration, this space is progressively made smaller until the target problem is reached. The method uses a homotopy index to iterate the sequence of optimizations, and the method is verified by solving challenging maneuvering problems with different road surfaces and entry velocities using a double-track vehicle dynamics model. The main takeaway is... (More)
Optimization of vehicle maneuvers using dynamic models in constrained spaces is challenging. Homotopic optimization, which has shown success for vehicle maneuvers with kinematic models, is studied in the case where the vehicle model is governed by dynamic equations considering road-tire interactions. This method involves a sequence of optimization problems that start with a large free space. By iteration, this space is progressively made smaller until the target problem is reached. The method uses a homotopy index to iterate the sequence of optimizations, and the method is verified by solving challenging maneuvering problems with different road surfaces and entry velocities using a double-track vehicle dynamics model. The main takeaway is that homotopic optimization is also efficient for dynamic vehicle models at the limit of road-tire friction, and it demonstrates capabilities in solving demanding maneuvering problems compared with alternative methods like stepwise initialization and driver model-based initialization. (Less)
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author
; ; ; and
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
host publication
2024 IEEE Intelligent Vehicles Symposium (IV)
publisher
IEEE - Institute of Electrical and Electronics Engineers Inc.
conference name
2024 IEEE Intelligent Vehicles Symposium (IV)
conference location
Korea, Republic of
conference dates
2024-06-02 - 2024-06-05
external identifiers
  • scopus:85199786717
DOI
10.1109/IV55156.2024.10588609
project
ELLIIT B14: Autonomous Force-Aware Swift Motion Control
RobotLab LTH
language
English
LU publication?
yes
id
1cc4eadc-8dfe-4c9f-9753-808539911e97
date added to LUP
2024-10-10 16:56:26
date last changed
2025-04-04 15:02:27
@inproceedings{1cc4eadc-8dfe-4c9f-9753-808539911e97,
  abstract     = {{Optimization of vehicle maneuvers using dynamic models in constrained spaces is challenging. Homotopic optimization, which has shown success for vehicle maneuvers with kinematic models, is studied in the case where the vehicle model is governed by dynamic equations considering road-tire interactions. This method involves a sequence of optimization problems that start with a large free space. By iteration, this space is progressively made smaller until the target problem is reached. The method uses a homotopy index to iterate the sequence of optimizations, and the method is verified by solving challenging maneuvering problems with different road surfaces and entry velocities using a double-track vehicle dynamics model. The main takeaway is that homotopic optimization is also efficient for dynamic vehicle models at the limit of road-tire friction, and it demonstrates capabilities in solving demanding maneuvering problems compared with alternative methods like stepwise initialization and driver model-based initialization.}},
  author       = {{Zhou, Jian and Balachandran, Arvind and Olofsson, Björn and Nielsen, Lars and Frisk, Erik}},
  booktitle    = {{2024 IEEE Intelligent Vehicles Symposium (IV)}},
  language     = {{eng}},
  publisher    = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}},
  title        = {{Homotopic Optimization for Autonomous Vehicle Maneuvering}},
  url          = {{http://dx.doi.org/10.1109/IV55156.2024.10588609}},
  doi          = {{10.1109/IV55156.2024.10588609}},
  year         = {{2024}},
}