at Google ScholarTitle 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.
Related URLs
Project information
| Project title: |
Project's official title Project'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: | 23 Mar 2021 13:24 |
| URI: | https://eref.uni-bayreuth.de/id/eprint/9912 |
Available Versions of this Item
-
Avoidance trajectories for driver assistance systems via solvers for optimal control problems. (deposited 28 Mar 2015 22:00)
- Avoidance trajectories for driver assistance systems via solvers for optimal control problems. (deposited 02 Apr 2015 07:05) [Currently Displayed]