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Title: Comparison of optimal driving policies for limit handling manoeuvres
Authors: Gordon, T.J.
Best, Matt C.
Keywords: Vehicle dynamics control
Active safety
Issue Date: 2004
Publisher: © Society of Automotive Engineers of Japan (JSAE)
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.
Abstract: 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.
Description: This is a conference paper.
Version: Accepted for publication
URI: https://dspace.lboro.ac.uk/2134/8327
Publisher Link: http://www.jsae.or.jp/index_e.php
Appears in Collections:Conference Papers and Presentations (Aeronautical and Automotive Engineering)

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