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Optimization and Optimal Control in Automotive Systems pp 109–129Cite as

Real-Time Near-Optimal Feedback Control of Aggressive Vehicle Maneuvers

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Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 455))

Abstract

Optimal control theory Patrick J. can be used to generate aggressive maneuvers for vehicles under a variety of conditions using minimal assumptions. Although optimal control provides a very powerful framework for generating aggressive maneuvers utilizing fully nonlinear vehicle and tire models, its use in practice is hindered by the lack of guarantees of convergence, and by the typically long time to generate a solution, which makes this approach unsuitable for real-time implementation unless the problem obeys certain convexity and/or linearity properties. In this chapter, we investigate the use of statistical interpolation (e.g., kriging) in order to synthesize on-the-fly near-optimal feedback control laws from pre-computed optimal solutions. We apply this methodology to the challenging scenario of generating a minimum-time yaw rotation maneuver of a speeding vehicle in order to change its posture prior to a collision with another vehicle, in an effort to remedy the effects of a head-on collision. It is shown that this approach offers a potentially appealing option for real-time, near-optimal, robust trajectory generation.

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Notes

  1. 1.

    A stationary covariance process has constant mean and variance and the covariance matrix depends only on the distance between the corresponding inputs.

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Acknowledgments

Partial support for the work presented in this chapter has been provided by NSF through award no. CMMI-1234286 and ARO via MURI award no. W911NF-11-1-0046.

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Authors and Affiliations

  1. School of Aerospace Engineering, Georgia Institute of Technology, Atlanta, GA, 30332-0150, USA

    Panagiotis Tsiotras

  2. Department of Aerospace Engineering, Universidad Politécnica de Valencia, Valencia, Spain

    Ricardo Sanz Diaz

Authors
  1. Panagiotis Tsiotras
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  2. Ricardo Sanz Diaz
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Correspondence to Panagiotis Tsiotras .

Editor information

Editors and Affiliations

  1. Institute for Design and Control of Mechatronical Systems, Johannes Kepler, University Linz, Linz, Austria

    Harald Waschl

  2. Department of Aerospace Engineering, University of Michigan, Ann Arbor, Michigan, USA

    Ilya Kolmanovsky

  3. Department of Mechanical Engineering, Eindhoven University of Technology, Eindhoven, The Netherlands

    Maarten Steinbuch

  4. Institute for Design and Control of Mechatronical Systems, Johannes Kepler University Linz, Linz, Austria

    Luigi del Re

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Tsiotras, P., Diaz, R.S. (2014). Real-Time Near-Optimal Feedback Control of Aggressive Vehicle Maneuvers. In: Waschl, H., Kolmanovsky, I., Steinbuch, M., del Re, L. (eds) Optimization and Optimal Control in Automotive Systems. Lecture Notes in Control and Information Sciences, vol 455. Springer, Cham. https://doi.org/10.1007/978-3-319-05371-4_7

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  • DOI: https://doi.org/10.1007/978-3-319-05371-4_7

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  • Online ISBN: 978-3-319-05371-4

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