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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:
author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
keywords
Automotive, Optimal control
host publication
2013 American Control Conference
editor
Astolfi, Alessandro and
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
language
English
LU publication?
yes
id
4f0c67d0-635a-4e95-a1f6-d3aae9f322d8 (old id 3437198)
date added to LUP
2013-02-01 11:49:19
date last changed
2019-04-10 02:01:31
@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},
  editor       = {Astolfi, Alessandro},
  isbn         = {9781479901777},
  issn         = {0743-1619},
  keyword      = {Automotive,Optimal control},
  language     = {eng},
  location     = {Washington, DC, United States},
  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          = {http://dx.doi.org/10.1109/ACC.2013.6580152},
  year         = {2013},
}