Minimum time overtaking problem of vehicle handling inverse dynamics based on interval mathematics

Zhao, Youqun; Zhang, Wenxin; Zhang, Xinglong; Lin, Fanghua

doi:10.1177/0954407018766808

Cited by 5 publications

(2 citation statements)

References 23 publications

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“…The minimum safety distance is related to road adhesion coefficient. In order to meet the requirements of lane changing safety under different road conditions, the safety distance model 23 considering different road adhesion coefficients is established.…”

Section: Handling Inverse Dynamics Modelmentioning

confidence: 99%

Study on the optimal lane changing steering input under different road adhesion coefficients

Zhang

Zhao

Zhang

et al. 2019

Proceedings of the Institution of Mechanical Engineers, Part I:

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To study the influence of road adhesion coefficient on lane changing steering input, vehicle handling inverse dynamics based on hp-adaptive Radau pseudospectral method is proposed in this article. First, a steering inverse dynamics model is established and then the inverse dynamics problem is converted into an optimal control problem. Second, by applying the hp-adaptive Radau pseudospectral method, the optimal control problem is converted into a nonlinear programming problem, which is then solved through sequential quadratic programming. Besides, two contrast verifications are carried out to validate the correctness and advantages of the proposed method. The simulation results show that the obtained control input satisfies the vehicle dynamic constraints. And comparing with Gauss Pseudospectral Method (GPM), hp-adaptive Radau pseudospectral method has higher computational accuracy and computational efficiency when solving non-smooth problem. The study of optimal steering input can provide guidance for driver’s lane changing behavior, so that the accident rate caused by human factors can be decreased. The proposed method can provide a reference value into the active safety of manned and unmanned vehicles.

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Section: Handling Inverse Dynamics Modelmentioning

confidence: 99%

Study on the optimal lane changing steering input under different road adhesion coefficients

Zhang

Zhao

Zhang

et al. 2019

Proceedings of the Institution of Mechanical Engineers, Part I:

Self Cite

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“…Based on the idea of inverse dynamics, the optimal control input considering the uncertain factors for overtaking problem was studied by using GPM and interval mathematics. 29 Exist literature usually establish a separate-stage inverse dynamics model to solve the overtaking and obstacle avoidance problems, then introduce path constraints to control the variation range of lateral displacement. The path constraints are usually two low order smooth curves fitted by target points.…”

Section: Introductionmentioning

confidence: 99%

Optimal lateral control for autonomous vehicle based on multi-stage handling inverse dynamics

Zhang

Zhao

Zhang

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part D:

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In this paper, an optimal lateral control method for autonomous vehicle based on multi-stage handling inverse dynamics is proposed. By applying this method, the vehicle can be controlled to complete the corresponding driving task without tracking a certain ideal state variable trajectory. Firstly, a separate-stage handling inverse dynamics problem is described; and by setting the connections between each stage, a multi-stage handling inverse dynamics model is developed; then we convert the inverse dynamics problem into an optimal control problem (OCP). Secondly, an improved hp-adaptive Radau pseudospectral method ( hp-RPM) is applied to discrete the continuous OCP; and then the sequential quadratic programming is used to solve the problem. In addition, the results of contrast verification show that, when solving non-smooth problem, the improved hp-RPM has higher computational efficiency than hp-RPM. Finally, simulations under three typical cases and bench tests illustrate the effectiveness of the proposed method.

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Vehicle Handling Inverse Dynamics

Zhao,

Lin

2024

Vehicle System Dynamics

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Minimum time overtaking problem of vehicle handling inverse dynamics based on interval mathematics

Cited by 5 publications

References 23 publications

Study on the optimal lane changing steering input under different road adhesion coefficients

Study on the optimal lane changing steering input under different road adhesion coefficients

Optimal lateral control for autonomous vehicle based on multi-stage handling inverse dynamics

Vehicle Handling Inverse Dynamics

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