Studying the Influence of Roll and Pitch Dynamics in Optimal Road-Vehicle Maneuvers
Author
Summary, in English
A comparative analysis shows how vehicle motion models of different complexity, capturing various characteristics, influence the solution when used in time-critical optimal maneuvering problems. Vehicle models with combinations of roll and pitch dynamics as well as load transfer are considered, ranging from a single-track model to a double-track model with roll and pitch dynamics combined with load transfer. The optimal maneuvers in a 90 deg turn and a double lane-change scenario are formulated as minimum-time optimization problems, and are solved using numerical optimization software. The results obtained with the different models show that variables potentially important for safety systems, such as the yaw rate, slip angle, and geometric path, are qualitatively the same. Moreover, the numeric differences are mostly within a few percent. The results also indicate that although input torques differ about 50-̣100 % for certain parts of the maneuver between the most and least complex model considered, the resulting vehicle motions obtained are similar, irrespective of the model. Our main conclusion is that this enables the use of low-order models when designing the onboard optimization-based safety systems of the future.
Department/s
Publishing year
2013-08-19
Language
English
Full text
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Document type
Conference paper
Topic
- Control Engineering
Conference name
23rd International Symposium on Dynamics of Vehicles on Roads and Tracks
Conference date
2013-08-19
Conference place
Qingdao, China
Status
Published
Project
- RobotLab LTH
Research group
- ELLIIT
- LCCC