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

Peter Sundström (Institutionen för signaler och system) ; Mats Jonasson ; Johan Andreasson ; Annika Stensson Trigell ; Bengt Jacobson (Institutionen för tillämpad mekanik, Fordonsteknik och autonoma system)
10th International Symposium on Advanced Vehicle Control (AVEC 10), August 22-26, 2010 in Loughborough, UK. (2010)
[Konferensbidrag, refereegranskat]

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.

Nyckelord: Vehicle Control, Sensor and Actuator, Integrated Motion Control



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Denna post skapades 2011-01-18. Senast ändrad 2014-09-17.
CPL Pubid: 134648