Abstract
This paper investigates real-time optimal control for an autonomous vehicle. The clock-based real-time optimal control that generates the so-called Carathéodory-π trajectories has found wide applications in recent years due to an increase in computational performance. The applicability of a propagation type Carathéodory-π control algorithm for the vehicle in the curved road is investigated by numerical simulations using the full-vehicle model. Results demonstrate that the sequentially calculating optimal control command given by a simple dynamical model has the potential for the real-time optimal control of the conventional type vehicle.
