Abstract
This paper is dealing with optimal vehicle trajectories for emergency obstacle avoidance situation. A vehicle trajectory problem is formulated as an optimal control problem that finds the solution that minimize an objective function and satisfies both boundary and path constraints. The objective function consists of tire workload and control effort. A numerical technique called a direct optimization method is used for the optimization of the steering and braking torque command. Optimal usage of control inputs in emergency obstacle avoidance situation is discussed.
