Studying the Influence of Roll and Pitch Dynamics in Optimal Road-Vehicle Maneuvers
A comparative analysis shows how vehicle motion models of different complexity, capturing various character-
istics, influence the solution when used in time-critical optimal maneuvering problems. Vehicle models with
combinations of roll and pitch dynamics as well as load transfer are considered, ranging from a single-track model
to a double-track model with roll and pitch dynamics and load transfer. The optimal maneuvers in a 90â—¦ -turn and a
double lane-change scenario are formulated as minimum-time optimization problems, and are solved using numer-
ical optimization software. The results obtained with the different models show that variables potentially important
for safety systems, such as the yaw rate, slip angle, and geometric path, are qualitatively the same. Moreover, the
numeric differences are mostly within a few percent. The results also indicate that although input torques differ
about 50–100 % for certain parts of the maneuver between the most and least complex model considered, the
resulting vehicle motions obtained are similar, irrespective of the model. Our main conclusion is that this enables
the use of low-order models when designing the on-board optimization-based safety systems of the future.
Kristoffer Lundahl, Karl Berntorp, Björn Olofsson, Jan Åslund and Lars Nielsen
2013
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Last updated: 2021-11-10
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