APPLICATION OF DYNAMIC OPTIMIZATION FOR AUTONOMOUS VEHICLE MOTION CONTROL

IF 0.5 Q4 TRANSPORTATION SCIENCE & TECHNOLOGY Transport Problems Pub Date : 2023-06-30 DOI:10.20858/tp.2023.18.2.18
M. Brzozowski, Ł. Drąg
{"title":"APPLICATION OF DYNAMIC OPTIMIZATION FOR AUTONOMOUS VEHICLE MOTION CONTROL","authors":"M. Brzozowski, Ł. Drąg","doi":"10.20858/tp.2023.18.2.18","DOIUrl":null,"url":null,"abstract":"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.","PeriodicalId":45193,"journal":{"name":"Transport Problems","volume":" ","pages":""},"PeriodicalIF":0.5000,"publicationDate":"2023-06-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Transport Problems","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.20858/tp.2023.18.2.18","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q4","JCRName":"TRANSPORTATION SCIENCE & TECHNOLOGY","Score":null,"Total":0}
引用次数: 0

Abstract

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.
查看原文
分享 分享
微信好友 朋友圈 QQ好友 复制链接
本刊更多论文
动态优化在自动驾驶汽车运动控制中的应用
本文提出了一种可用于自动驾驶汽车运动规划和控制的程序算法和车辆动力学模型。对三自由度自行车简化模型和十自由度空间模型的仿真结果进行了比较。对两种模型的数值效率进行了评价。制定了动态优化任务,求解了该任务的动态优化方案,实现了变道和超车操作。使用自行车模型求解任务,并使用空间模型验证结果(预定机动的实现)。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
求助全文
约1分钟内获得全文 去求助
来源期刊
Transport Problems
Transport Problems TRANSPORTATION SCIENCE & TECHNOLOGY-
CiteScore
1.90
自引率
14.30%
发文量
55
审稿时长
48 weeks
期刊介绍: Journal Transport Problems is a peer-reviewed open-access scientific journal, owned by Silesian University of Technology and has more than 10 years of experience. The editorial staff includes mainly employees of the Faculty of Transport. Editorial Board performs the functions of current work related to the publication of the next issues of the journal. The International Programming Council coordinates the long-term editorial policy the journal. The Council consists of leading scientists of the world, who deal with the problems of transport. This Journal is a source of information and research results in the transportation and communications science: transport research, transport technology, transport economics, transport logistics, transport law.
期刊最新文献
ENHANCING MOBILITY: DEVELOPING A PEDESTRIAN SOLUTION FOR LOCOMOTION CHALLENGES AND ROAD SAFETY MULTIGRAPH IS: Part 2. VERIFICATION OF THE DIGITAL TWIN OF THE EUROPEAN TRAIN CONTROL SYSTEM APPLICATION AN APPROACH TO TECHNOLOGICAL EQUIPMENT SELECTION FOR MEASURING RAILWAY TRACK GEOMETRY STUDY ON THE ESTIMATION OF SARS-CoV-2 VIRUS PATHOGENS’ TRANSMISSION PROBABILITIES FOR DIFFERENT PUBLIC BUS TRANSPORT SERVICE SCENARIOS COVID-19 AND LONG-DISTANCE COACH SERVICES IN EUROPE: THE IMPACT OF CHANGING PASSENGER BEHAVIOR
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
0
微信
客服QQ
Book学术公众号 扫码关注我们
反馈
×
意见反馈
请填写您的意见或建议
请填写您的手机或邮箱
已复制链接
已复制链接
快去分享给好友吧!
我知道了
×
扫码分享
扫码分享
Book学术官方微信
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术
文献互助 智能选刊 最新文献 互助须知 联系我们:info@booksci.cn
Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。
Copyright © 2023 Book学术 All rights reserved.
ghs 京公网安备 11010802042870号 京ICP备2023020795号-1