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Models and methodology for optimal trajectory generation in safety-critical road–vehicle manoeuvres

Berntorp, Karl LU ; Olofsson, Björn LU ; Lundahl, Kristoffer and Nielsen, Lars (2014) In Vehicle System Dynamics 52(10). p.1304-1332
Abstract
There is currently a strongly growing interest in obtaining optimal control solutions for vehicle manoeuvres, both in order to understand optimal vehicle behaviour and, perhaps more importantly, to devise improved safety systems, either by direct deployment of the solutions or by including mimicked driving techniques of professional drivers. However, it is non-trivial to find the right combination of models, optimisation criteria, and optimisation tools to get useful results for the above purposes. Here, a platform for investigation of these aspects is developed based on a state-of-the-art optimisation tool together with adoption of existing vehicle chassis and tyre models. A minimum-time optimisation criterion is chosen for the purpose of... (More)
There is currently a strongly growing interest in obtaining optimal control solutions for vehicle manoeuvres, both in order to understand optimal vehicle behaviour and, perhaps more importantly, to devise improved safety systems, either by direct deployment of the solutions or by including mimicked driving techniques of professional drivers. However, it is non-trivial to find the right combination of models, optimisation criteria, and optimisation tools to get useful results for the above purposes. Here, a platform for investigation of these aspects is developed based on a state-of-the-art optimisation tool together with adoption of existing vehicle chassis and tyre models. A minimum-time optimisation criterion is chosen for the purpose of gaining an insight into at-the-limit manoeuvres, with the overall aim of finding improved fundamental principles for future active safety systems. The proposed method to trajectory generation is evaluated in time-manoeuvres using vehicle models established in the literature. We determine the optimal control solutions for three manoeuvres using tyre and chassis models of different complexities. The results are extensively analysed and discussed. Our main conclusion is that the tyre model has a fundamental influence on the resulting control inputs. Also, for some combinations of chassis and tyre models, inherently different behaviour is obtained. However, certain variables important in vehicle safety-systems, such as the yaw moment and the body-slip angle, are similar for several of the considered model configurations in aggressive manoeuvring situations. (Less)
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author
organization
publishing date
type
Contribution to journal
publication status
published
subject
keywords
time-optimal trajectory generation, optimal manoeuvres, road vehicles, chassis and tyre modelling
in
Vehicle System Dynamics
volume
52
issue
10
pages
1304 - 1332
publisher
Taylor & Francis
external identifiers
  • wos:000342291200005
  • scopus:84907689491
ISSN
1744-5159
DOI
10.1080/00423114.2014.939094
project
ENGROSS
language
English
LU publication?
yes
id
799ea493-9006-4cdd-aae1-f9a199ebc81c (old id 4499066)
date added to LUP
2014-06-30 09:19:00
date last changed
2017-10-22 04:11:44
@article{799ea493-9006-4cdd-aae1-f9a199ebc81c,
  abstract     = {There is currently a strongly growing interest in obtaining optimal control solutions for vehicle manoeuvres, both in order to understand optimal vehicle behaviour and, perhaps more importantly, to devise improved safety systems, either by direct deployment of the solutions or by including mimicked driving techniques of professional drivers. However, it is non-trivial to find the right combination of models, optimisation criteria, and optimisation tools to get useful results for the above purposes. Here, a platform for investigation of these aspects is developed based on a state-of-the-art optimisation tool together with adoption of existing vehicle chassis and tyre models. A minimum-time optimisation criterion is chosen for the purpose of gaining an insight into at-the-limit manoeuvres, with the overall aim of finding improved fundamental principles for future active safety systems. The proposed method to trajectory generation is evaluated in time-manoeuvres using vehicle models established in the literature. We determine the optimal control solutions for three manoeuvres using tyre and chassis models of different complexities. The results are extensively analysed and discussed. Our main conclusion is that the tyre model has a fundamental influence on the resulting control inputs. Also, for some combinations of chassis and tyre models, inherently different behaviour is obtained. However, certain variables important in vehicle safety-systems, such as the yaw moment and the body-slip angle, are similar for several of the considered model configurations in aggressive manoeuvring situations.},
  author       = {Berntorp, Karl and Olofsson, Björn and Lundahl, Kristoffer and Nielsen, Lars},
  issn         = {1744-5159},
  keyword      = {time-optimal trajectory generation,optimal manoeuvres,road vehicles,chassis and tyre modelling},
  language     = {eng},
  number       = {10},
  pages        = {1304--1332},
  publisher    = {Taylor & Francis},
  series       = {Vehicle System Dynamics},
  title        = {Models and methodology for optimal trajectory generation in safety-critical road–vehicle manoeuvres},
  url          = {http://dx.doi.org/10.1080/00423114.2014.939094},
  volume       = {52},
  year         = {2014},
}