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Application of dynamic optimization for autonomous vehicle motion control

Brzozowski Michał, Drąg Łukasz

Transport Problems

2023

T. 18, z. 2

209--222

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.

Vehicle dynamics model as road pavement load generation

Lozia Z.

Engineering Transactions

2000

Vol. 48, iss. 3

243-259

This paper presents the models of vehicle that are treated as road pavement load generators for different motion cases. The key role of a tire model is discussed. The most complicated 14 degrees of freedom truck model is based on the structure of a biaxial vehicle with dependently suspended front and rear wheels. The road pavement is treated as rigid but uneven. The road irregularities have a determined 3D form and may also be the realisation of stationary Gaussian random process describing the real road according to ISO recommendations. The paper shows specific model application for generation of forces between tires and uneven road. The vehicle response (for given motion cases, e.g. straight constant velocity motion) may be presented as time histories of footprint forces as well as force's PSD. The simulation results may be treated as input data for the road pavement stress and wear analysis.