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Optimal Control in Autonomous Driving
Author(s) -
Cobus Andreas,
Rick Matthias,
Sommer Laura,
Backfisch Niels,
Probst Alexander,
Echim Mitja,
Büskens Christof
Publication year - 2017
Publication title -
pamm
Language(s) - English
Resource type - Journals
ISSN - 1617-7061
DOI - 10.1002/pamm.201710359
Subject(s) - overtaking , obstacle , key (lock) , process (computing) , cruise control , control (management) , task (project management) , computer science , competition (biology) , cruise , obstacle avoidance , control engineering , engineering , systems engineering , artificial intelligence , operations research , mobile robot , transport engineering , robot , computer security , aerospace engineering , ecology , law , political science , biology , operating system
Autonomous driving is no longer a subject of science fiction. Instead it has become a field of highly topical developments and has already reached numerous milestones. The Audi Autonomous Driving Cup provides a stage for students to participate in this development process. This competition, carried out in Germany, Austria and Switzerland, provides miniature vehicles of normed hardware to the participants which have the task of implementing algorithms for autonomous handling of problems such as lane tracking, obstacle detection, adaptive cruise control, overtaking, turning as well as entering and exiting parking spaces. To present the concept of optimal control based on a single track model in combination with image processing methods we focus in this paper on the parking manoeuvre only. Thereby we show that optimization and control techniques can play a key role in the design of autonomous vehicles. (© 2017 Wiley‐VCH Verlag GmbH & Co. KGaA, Weinheim)