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Optimal Velocity Profile Generation for Semi-Autonomous Vehicles

Winter, Christoph and de Castro, Ricardo (2017) Optimal Velocity Profile Generation for Semi-Autonomous Vehicles. In: VDI Berichte, 2292, pp. 129-141. VDI Wissensforum GmbH. AUTOREG 2017, 05.-06. Juli 2017, Berlin. ISBN 978-3-18-092292-8

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Abstract

This work describes the optimization of velocity profiles for the usage in (semi-) autonomous driving. The focus of the optimization lies on the trade-off between time and energy optimal velocity profiles. This trade-off can be directly chosen by the driver. With help of a dynamic programming framework the global optimum of the complex optimization with nonlinear constraints based on the vehicles physical limits is found. The velocity profile generation together with an online path planner serves as an input to the vehicle’s path following control, allowing for automated driving. The effectiveness of the proposed approach is shown via numerical simulations.

Item URL in elib:https://elib.dlr.de/113316/
Document Type:Conference or Workshop Item (Speech)
Title:Optimal Velocity Profile Generation for Semi-Autonomous Vehicles
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Winter, Christophchristoph.winter (at) dlr.deUNSPECIFIED
de Castro, Ricardoricardo.decastro (at) dlr.deUNSPECIFIED
Date:2017
Journal or Publication Title:VDI Berichte
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
Volume:2292
Page Range:pp. 129-141
Publisher:VDI Wissensforum GmbH
ISBN:978-3-18-092292-8
Status:Published
Keywords:Velocity Profile Generation, Dynamic Programming, Trade-Off between time- and energy-optimal driving
Event Title:AUTOREG 2017
Event Location:Berlin
Event Type:national Conference
Event Dates:05.-06. Juli 2017
Organizer:VDI Wissensforum
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Terrestrial Vehicles (old)
DLR - Research area:Transport
DLR - Program:V BF - Bodengebundene Fahrzeuge
DLR - Research theme (Project):V - NGC-Energiemanagement (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of System Dynamics and Control > Vehicle System Dynamics
Deposited By: Winter, Christoph
Deposited On:30 Aug 2017 16:39
Last Modified:31 Jul 2019 20:10

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