Formulation and interpretation of optimal braking and steering patterns towards autonomous safety-critical manoeuvres. Issue 8 (3rd August 2019)

• Record Type: Journal Article
• Authors: Fors, Victor; Olofsson, Björn; Nielsen, Lars
• Is Part Of: Vehicle system dynamics. Volume 57:Issue 8(2019)
• Page Start: 1206
• Page End: 1223
• Publication Date: 2019-08-03
• Subjects: Vehicle stability -- yaw control -- lane keeping -- lane change -- avoidance manoeuvre -- at-the-limit; Motor vehicles -- Dynamics -- Periodicals; Electronic journals; 629.231
• DOI: 10.1080/00423114.2018.1549331
• Languages: English
• ISSNs: 0042-3114

Abstract

ABSTRACT: Stability control of a vehicle in autonomous safety-critical at-the-limit 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 through examples of how to exploit theresults.