Path and control signal optimisation for over-actuated vehicles in two safety-critical maneuvers

PETER SUNDSTRÖM, MATS JONASSON, JOHAN ANDREASSON, ANNIKA STENSSON TRIGELL, BENGT JACOBSON

AUGUST 22, 2010

In 10th International Symposium on Advanced Vehicle Control (AVEC 10), August 22-26, 2010 in Loughborough, UK

Abstract

This paper presents results on how to optimally negotiate two safety-critical vehicle maneuvers,depending on different set of actuators. The motives for this research has been to provide viable knowledge of limitations of vehicle control under the presence of preview sensors, such as radar, camera and navigation. Using tools available in the JModelica.org platform, an optimal path is found by optimising the sequence of actuator requests during the maneuver. Particular interest is paid on the optimal trade-off between braking and steering.