Optimales Abbremsen eines Fahrzeuges bei Kurvenfahrt

Abstract

The problem of minimizing the stopping distance of a vehicle along a given trajectory is considered. A simple “one-wheel-model” for the vehicle and a suitable performance index for the optimization problem are derived. A simplified problem is considered first from which an analytical solution for the optimal trajectory is obtained. The suboptimal open loop control inputs are then approximately computed via a search algorithm. The results show that the performance nearly matches the predicted value.