Loading...
Please wait, while we are loading the content...
Similar Documents
Formulation and interpretation of optimal braking and steering patterns towards autonomous safety-critical manoeuvres
| Content Provider | Semantic Scholar |
|---|---|
| Author | Fors, Victor Nielsen, Lars |
| Copyright Year | 2018 |
| Abstract | Stability control of a vehicle in autonomous safety-critical at-thelimit 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 throughexamples of how to exploit the results. ARTICLE HISTORY Received 7 December 2017 Revised 5 November 2018 Accepted 6 November 2018 |
| File Format | PDF HTM / HTML |
| Alternate Webpage(s) | http://www.diva-portal.se/smash/get/diva2:1266075/FULLTEXT02.pdf |
| Language | English |
| Access Restriction | Open |
| Subject Keyword | Autonomous robot Control theory Embedded system Embedding Interpolation Imputation Technique Mathematical optimization Optimal control Population Parameter Velocity (software development) Yaws |
| Content Type | Text |
| Resource Type | Article |
