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Vehicle Path Optimisation

Danielsson, Henrik (2007) In MSc Theses
Department of Automatic Control
Abstract
Optimal paths are useful when testing the performances of vehicles. In this thesis, optimal paths for vehicle models created in Modelica have been obtained. The optimal paths have been obtained by applying the theory of optimal control. The optimal control problem has been formulated with the Optimica language and has been solved with AMPL and IPOPT. Two approaches for finding optimal paths have been applied. In the first approach the vehicle models are dependent of time, and the time it takes for the vehicle to traverse a specified track is minimized. Finding optimal paths when using this approach has been difficult. In the second approach the vehicle models have been transformed to be dependent of distance instead of time before finding... (More)
Optimal paths are useful when testing the performances of vehicles. In this thesis, optimal paths for vehicle models created in Modelica have been obtained. The optimal paths have been obtained by applying the theory of optimal control. The optimal control problem has been formulated with the Optimica language and has been solved with AMPL and IPOPT. Two approaches for finding optimal paths have been applied. In the first approach the vehicle models are dependent of time, and the time it takes for the vehicle to traverse a specified track is minimized. Finding optimal paths when using this approach has been difficult. In the second approach the vehicle models have been transformed to be dependent of distance instead of time before finding the optimal path. In this approach the cost function is formulated in a different way, and the cost function is minimized over travelled distance. Optimal paths for an one-track vehicle model with linear tyre characteristics driving on specified tracks have been found with both approaches. Some optimal paths have also been found for an one-track vehicle model with nonlinear tyre characteristics. (Less)
Please use this url to cite or link to this publication:
author
Danielsson, Henrik
supervisor
organization
year
type
H3 - Professional qualifications (4 Years - )
subject
publication/series
MSc Theses
report number
TFRT-5797
ISSN
0280-5316
language
English
id
8847733
date added to LUP
2016-03-17 13:09:24
date last changed
2016-03-17 13:09:24
@misc{8847733,
  abstract     = {{Optimal paths are useful when testing the performances of vehicles. In this thesis, optimal paths for vehicle models created in Modelica have been obtained. The optimal paths have been obtained by applying the theory of optimal control. The optimal control problem has been formulated with the Optimica language and has been solved with AMPL and IPOPT. Two approaches for finding optimal paths have been applied. In the first approach the vehicle models are dependent of time, and the time it takes for the vehicle to traverse a specified track is minimized. Finding optimal paths when using this approach has been difficult. In the second approach the vehicle models have been transformed to be dependent of distance instead of time before finding the optimal path. In this approach the cost function is formulated in a different way, and the cost function is minimized over travelled distance. Optimal paths for an one-track vehicle model with linear tyre characteristics driving on specified tracks have been found with both approaches. Some optimal paths have also been found for an one-track vehicle model with nonlinear tyre characteristics.}},
  author       = {{Danielsson, Henrik}},
  issn         = {{0280-5316}},
  language     = {{eng}},
  note         = {{Student Paper}},
  series       = {{MSc Theses}},
  title        = {{Vehicle Path Optimisation}},
  year         = {{2007}},
}