Models and methodology for optimal vehicle maneuvers applied to a hairpin turn

Abstract

Abstract-There is currently a strongly growing interest in obtaining optimal control solutions for vehicle maneuvers, both in order to understand optimal vehicle behavior and to devise improved safety systems, either by direct deployment of the solutions or by including mimicked driving techniques of professional drivers. However, it is nontrivial to find the right mix of models, formulations, and optimization tools to get useful results for the above purposes. Here, a platform is developed based on a stateof-the-art optimization tool together with adoption of existing vehicle models, where especially the tire models are in focus. A minimum-time formulation is chosen to the purpose of gaining insight in at-the-limit maneuvers, with the overall aim of possibly finding improved principles for future active safety systems. We present optimal maneuvers for different tire models with a common vehicle motion model, and the results are analyzed and discussed. Our main result is that a few-state single-track model combined with different tire models is able to replicate the behavior of experienced drivers. Further, we show that the different tire models give quantitatively different behavior in the optimal control of the vehicle in the maneuver.

Models and methodology for optimal trajectory generation in safety-critical road–vehicle manoeuvres

“…A preliminary version of parts of the research presented here has been presented as conference contributions [27,28]. In this paper, several extensions are presented.…”

“…We use the force-slip tire characteristic surfaces as a basis for analysis, as introduced in [27] and hereafter referred to as Force-Slip (FS)-diagrams. This 3D Resulting Tire Force (WF) Table 3.…”

“…The authors have previously presented a method for determining optimal maneuvers and a subsequent comparison using different methods for tire modeling in [27], and a comparison of optimal maneuvers with different chassis models was treated in [28]. Moreover, we investigated the influence of the road surface on the optimal maneuver in [29].…”

Robust power-slide control for a production vehicle

“…Berntorp et al, 2013), which has to be solved on a receding horizon in real-time. As for the demonstrated scenario (and numerous other test runs with different curvatures and undergrounds) the curvature, the slip angle, and, none the less important, the vehicle velocity reference at the entrance of the curve are based on manually drifted manoeuvres.…”

Hierarchical predictive control for ground-vehicle maneuvering

“…The work presented here builds on the conclusions from [3]- [5], which showed that single-track models can replicate expert-driving behavior for high-level variables, such as yaw rate and velocity. It was also shown that the vehicle states are qualitatively similar for single-and double-track models when using an appropriate tire model, but the input torques and steer angles are significantly different.…”