Models and Methodology for Optimal Vehicle Maneuvers Applied to a Hairpin Turn
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 solu-
tions 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.
Karl Berntorp, Björn Olofsson, Kristoffer Lundahl, Bo Bernhardsson and Lars Nielsen
2013
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Last updated: 2021-11-10
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