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Avoidance trajectories for driver assistance systems via solvers for optimal control problems

Title data

Xausa, Ilaria ; Baier, Robert ; Gerdts, Matthias ; Gonter, Mark ; Wegwerth, Christian:
Avoidance trajectories for driver assistance systems via solvers for optimal control problems.
In: Proceedings on the 20th International Symposium on Mathematical Theory of Networks and Systems (MTNS 2012), July 9-13, 2012, Melbourne, Australia. - Melbourne, Australia : Think Business Events , 2012 . - p. 8
ISBN 978-0-646-58062-3

This is the latest version of this item.

Official URL: Volltext

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Project information

Project title:
Project's official titleProject's id
Marie-Curie Initial Training Network "Sensitivity Analysis for Deterministic Controller Design" (SADCO)264735-SADCO

Project financing: 7. Forschungsrahmenprogramm für Forschung, technologische Entwicklung und Demonstration der Europäischen Union

Abstract in another language

Avoidance trajectories for driver assistance systems is an important and active field of research in car industry. Assistance systems with active braking maneuvers rely on car models, e.g. the single-track model, which are modeled as control problems. The formulation of suitable objective functions serves as a tool to realize collision detection and avoidance. In two scenarios for overtaking maneuvers, an optimal trajectory is computed via fixing a secure target state or by computing reachable sets from the initial starting point. First numerical experiments show approximations to optimal trajectories, controls and reachable sets. The sensitivity analysis in both, the optimal trajectory and the reachable set, reveal parameters that signicantly influence the solution.

Further data

Item Type: Article in a book
Refereed: Yes
Additional notes: Paper No. 294, full paper.

Contents:
1. Scenarios for Avoidance Trajectories
2. Computational Approaches for Avoidance Trajectories
Approach 1: Compute an (optimal) trajectory to a secure final state
Approach 2: Compute (projected) reachable set from initial position
3. Sensitivity Analysis
3.1 Sensitivity in Optimal Trajectory
Approach 1: Fiacco-Sensitivity
Approach 2: ODE-Sensitivity
3.2 Sensitivity in Trajectory Funnels and Reachable Sets
Keywords: sensitivity analysis; direct discretization methods; optimal control; reachable sets
Subject classification: Mathematics Subject Classification Code: 90C31 (49K40 49M37)
Institutions of the University: Faculties
Faculties > Faculty of Mathematics, Physics und Computer Science
Faculties > Faculty of Mathematics, Physics und Computer Science > Department of Mathematics
Faculties > Faculty of Mathematics, Physics und Computer Science > Department of Mathematics > Chair Mathematics V (Applied Mathematics)
Profile Fields
Profile Fields > Advanced Fields
Profile Fields > Advanced Fields > Nonlinear Dynamics
Result of work at the UBT: Yes
DDC Subjects: 500 Science > 510 Mathematics
Date Deposited: 02 Apr 2015 07:05
Last Modified: 02 Apr 2015 07:05
URI: https://eref.uni-bayreuth.de/id/eprint/9912

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