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Citation |
Horiuchi S, Okada K, Nohtomi S. JSAE Rev. 2001; 22(4): 495-502. |
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Copyright |
(Copyright © 2001, Society of Automotive Engineers of Japan, Publisher Elsevier Publishing) |
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DOI |
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PMID |
unavailable |
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Abstract |
Vehicle trajectories for emergency obstacle avoidance are analyzed from a viewpoint of optimal control. The performance function consists of integrals of longitudinal acceleration, lateral acceleration and control effort is defined to formulate the obstacle avoidance problem as an optimal control problem. A numerical optimization method called a direct optimization is applied to calculate the optimal steering program. Using a nonlinear vehicle model, physical constraints such as saturation of control input, inequality constraints for vehicle trajectories, and equality constraints for terminal vehicle states are taken into account. The solutions to the optimal control problem provide valuable insight into the vehicle maneuver at the obstacle avoidance situations. |