Tell a friend
Print
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.
![[img]](https://elib.dlr.de/style/images/fileicons/application_pdf.png) |
PDF
547kB |
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: |
| |||||||||
| 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 |
Repository Staff Only: item control page
