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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.