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Avoidance trajectories for driver assistance systems via solvers for optimal control problems

Abstract : Avoidance trajectories for driver assistance systems is an important and active fi eld of research in car industry. Assistance systems with active braking maneuvers rely on car models, e.g. the single-track model, which are modeled as control problems. The formulation of suitable objective functions serves as a tool to realize collision detection and avoidance. In two scenarios for overtaking maneuvers, an optimal trajectory is computed via xing a secure target state or by computing reachable sets from the initial starting point. First numerical experiments show approximations to optimal trajectories, controls and reachable sets. The sensitivity analysis in both, the optimal trajectory and the reachable set, reveal parameters that signi cantly in uence the solution.
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https://hal.inria.fr/hal-00712878
Contributor : Estelle Bouzat <>
Submitted on : Thursday, June 28, 2012 - 2:35:19 PM
Last modification on : Wednesday, October 14, 2020 - 4:07:44 AM
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  • HAL Id : hal-00712878, version 1

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Ilaria Xausa, Robert Baier, Matthias Gerdts, Mark Gonter, Christian Wegwerth. Avoidance trajectories for driver assistance systems via solvers for optimal control problems. 20th International Symposium on Mathematical Theory of Networks and Systems, 2012, Melbourne, Australia. ⟨hal-00712878⟩

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