Application of dynamic optimization for autonomous vehicle motion control

• Autorzy: Brzozowski Michał , Drąg Łukasz

Identyfikatory

DOI

10.20858/tp.2023.18.2.18

• Języki publikacji: EN

Abstrakty

EN

This article presents a procedure algorithm and vehicle dynamics models that can be applied to planning and controlling the motion of an autonomous car. The simulation results obtained using a simplified bicycle model with three degrees of freedom and a spatial model with 10 degrees of freedom were compared. The numerical efficiency of both models was evaluated. The task of dynamic optimization was formulated, the solution to which enables the implementation of lane change and overtaking maneuvers. The task was solved using the bicycle model, and the results (implementation of the intended maneuver) were validated using the spatial model.

Słowa kluczowe

EN

vehicle dynamics model; dynamic optimization; lane change; overtaking maneuver

PL

model dynamiki pojazdu; optymalizacja dynamiczna; zmiana pasa ruchu; manewr wyprzedzania

• Wydawca: Wydawnictwo Politechniki Śląskiej
• Czasopismo: Transport Problems
• Rocznik: 2023
• Tom: T. 18, z. 2
• Strony: 209--222
• Opis fizyczny: Bibliogr. 12 poz.

Twórcy

autor

Brzozowski Michał

• University of Bielsko-Biala, Faculty of Mechanical Engineering and Computer Science; Willowa 2, 43-309 Bielsko-Biala, Poland

• https://orcid.org/0000-0001-9272-6594

autor

Drąg Łukasz

• University of Bielsko-Biala, Faculty Management and Transport; Willowa 2, 43-309 Bielsko-Biala, Poland

• https://orcid.org/0000-0001-7947-1726

Bibliografia

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