実時間最適化による非線形車両モデルの衝突回避制御

抄録

In this study, a collision avoidance method with model predictive control is proposed for a nonlinear model of a four-wheeled vehicle. The C/GMRES algorithm is used for solving the nonlinear model predictive control problem within a short sampling period. A nonlinear tire model is employed to represent the behavior of a realistic vehicle. The vehicle is controlled not only to avoid an obstacle but also not to deviate from the road. Control responses are investigated through numerical simulations.