Optimum Vehicle Trajectory Control for Obstacle Avoidance : A Minimax Problem of Resultant Vehicle Force(Mechanical Systems)

Abstract

This paper discusses an obstacle avoidance problem in vehicle maneuvering. For the avoidance of collision, an optimal control method minimizing the longitudinal movement was proposed. In this method, however, the optimal trajectory is effective for the emergency avoidance primarily. Therefore, an optimal control problem is formulated as minimizing the maximum of the resultant vehicle force by using the relative distance and velocity between vehicle and obstacle. It is shown that an optimal input-map in a 2-dimensional space is derived for online controller of vehicle.