Propagation Type Clock-Based Real-Time Optimal Control for Autonomous Vehicle

Abstract

This paper investigates a real-time optimal control for an autonomous vehicle. The clock-based real-time optimal control that generates the so-called Carathéodory-π (C-π) trajectories has found wide applications in recent years due to an increase in computational performance. In this paper, the applicability of a propagation type Carathéodory-π (PC-π) controller for the vehicle lane change maneuver is investigated by numerical simulations using the full-vehicle model. Results demonstrate that the PC-π controller has the potential for the real-time optimal control of the conventional type vehicle.