Abstract
This paper presents a method for reducing the number of optimization variables of a given optimal control problem by functional description of the problems control variables. Characteristic control sequences of elementary driving maneuvers are analyzed to derive requirements for generic functional modeling of the control sequence. Functions describing the whole control sequence at once are considered as well as piecewise representations. The optimal control problem is solved using these functional descriptions for both control inputs of a linearized single track model in two benchmark scenarios. The generated trajectories are compared to a reference solution for evaluation by residual cost of the optimization problem.
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Schmidt, M., Schmidt, S. (2018). Functional Description of Control Variables in Optimal Control and Application to Maneuver Planning for Autonomous Vehicles. In: Jármai, K., Bolló, B. (eds) Vehicle and Automotive Engineering 2. VAE 2018. Lecture Notes in Mechanical Engineering. Springer, Cham. https://doi.org/10.1007/978-3-319-75677-6_36
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DOI: https://doi.org/10.1007/978-3-319-75677-6_36
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