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Comparison of optimal driving policies for limit handling manoeuvres
This paper concerns the synthesis of optimal control inputs for automotive handling dynamics, a typical
application being in the evaluation of active safety systems operating near the limits of friction. The
paper considers an example of an emergency limit handling manoeuvre – combined acceleration and
steering to achieve obstacle avoidance whilst also maximising speed and maintaining stability. Two
independent methods are applied to the problem. The first is a general numerical optimiser for nonlinear
control systems (Generalised Optimal Control, or GOC). The second is an indirect Dual Model
(DM) method, which has the advantage that no differential analysis of the vehicle model is required,
and it can therefore be applied directly to a wide range of complex multibody dynamic models. A
relatively low-order handling model is actually used within this study, since this allows comparison
between the two methods and an evaluation of the general usefulness of the DM approach in the future.
History
School
- Aeronautical, Automotive, Chemical and Materials Engineering
Department
- Aeronautical and Automotive Engineering
Citation
GORDON, T.J. and BEST, M.C., 2004. Comparison of optimal driving policies for limit handling manoeuvres. Proceedings of the 7th International Symposium on Advanced Vehicle Control (AVEC), Arnhem, Netherlands, 23rd-27th August, pp. 399-404.Publisher
© Society of Automotive Engineers of Japan (JSAE)Version
- AM (Accepted Manuscript)
Publication date
2004Notes
This is a conference paper.Publisher version
Language
- en