Models and methodology for optimal trajectory generation in safety-critical road-vehicle manoeuvres
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.
Karl Berntorp, Björn Olofsson, Kristoffer Lundahl and Lars Nielsen
Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility,
2014
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