Formulation and interpretation of optimal braking and steering patterns towards autonomous safety-critical manoeuvres
(2019) In Vehicle System Dynamics 57(8). p.1206-1223- Abstract
- Stability control of a vehicle in autonomous safety-critical at-the-limit manoeuvres is analysed from the perspective of lane keeping or lane changing, rather than that of yaw control as in traditional ESC systems. An optimal control formulation is developed, where the optimisation criterion is a linear combination of the initial and final velocity of the manoeuvre. Varying the interpolation parameter in this formulation turns out to result in an interesting family of optimal braking and steering patterns in stabilising manoeuvres. The two different strategies of optimal lane-keeping control and optimal yaw control are shown to be embedded in the formulation and result from the boundary values of the parameter. The results provide new... (More)
- Stability control of a vehicle in autonomous safety-critical at-the-limit manoeuvres is analysed from the perspective of lane keeping or lane changing, rather than that of yaw control as in traditional ESC systems. An optimal control formulation is developed, where the optimisation criterion is a linear combination of the initial and final velocity of the manoeuvre. Varying the interpolation parameter in this formulation turns out to result in an interesting family of optimal braking and steering patterns in stabilising manoeuvres. The two different strategies of optimal lane-keeping control and optimal yaw control are shown to be embedded in the formulation and result from the boundary values of the parameter. The results provide new insights and have the potential to be used for future safety systems that adapt the level of braking to the situation at hand, which is demonstrated through examples of how to exploit theresults. (Less)
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/b1074dea-756d-42c5-9600-17e58a2f0243
- author
- Fors, Victor ; Olofsson, Björn LU and Nielsen, Lars
- publishing date
- 2019
- type
- Contribution to journal
- publication status
- published
- subject
- in
- Vehicle System Dynamics
- volume
- 57
- issue
- 8
- pages
- 1206 - 1223
- publisher
- Taylor & Francis
- external identifiers
-
- scopus:85057302147
- ISSN
- 0042-3114
- DOI
- 10.1080/00423114.2018.1549331
- project
- RobotLab LTH
- ELLIIT B14: Autonomous Force-Aware Swift Motion Control
- language
- English
- LU publication?
- no
- id
- b1074dea-756d-42c5-9600-17e58a2f0243
- date added to LUP
- 2022-07-04 15:24:22
- date last changed
- 2023-04-24 22:00:42
@article{b1074dea-756d-42c5-9600-17e58a2f0243,
abstract = {{Stability control of a vehicle in autonomous safety-critical at-the-limit manoeuvres is analysed from the perspective of lane keeping or lane changing, rather than that of yaw control as in traditional ESC systems. An optimal control formulation is developed, where the optimisation criterion is a linear combination of the initial and final velocity of the manoeuvre. Varying the interpolation parameter in this formulation turns out to result in an interesting family of optimal braking and steering patterns in stabilising manoeuvres. The two different strategies of optimal lane-keeping control and optimal yaw control are shown to be embedded in the formulation and result from the boundary values of the parameter. The results provide new insights and have the potential to be used for future safety systems that adapt the level of braking to the situation at hand, which is demonstrated through examples of how to exploit theresults.}},
author = {{Fors, Victor and Olofsson, Björn and Nielsen, Lars}},
issn = {{0042-3114}},
language = {{eng}},
number = {{8}},
pages = {{1206--1223}},
publisher = {{Taylor & Francis}},
series = {{Vehicle System Dynamics}},
title = {{Formulation and interpretation of optimal braking and steering patterns towards autonomous safety-critical manoeuvres}},
url = {{http://dx.doi.org/10.1080/00423114.2018.1549331}},
doi = {{10.1080/00423114.2018.1549331}},
volume = {{57}},
year = {{2019}},
}