This paper presents an optimization-based trajectory generation for a four in-wheel motor vehicle in a double lane change maneuver. It features the usage of a three-dimensional dynamical model of the vehicle and the generation of a feasible optimal trajectory satisfying state and input constraints, while still providing smooth lane change movements. Simulation results confirm the viability of the proposed method.
Trajectory Optimization for a Four In-Wheel Motor Vehicle in Double Lane Change Maneuver
Lect. Notes Electrical Eng.
APCA International Conference on Automatic Control and Soft Computing ; 2024 ; Porto, Portugal July 17, 2024 - July 19, 2024
2025-04-23
13 pages
Article/Chapter (Book)
Electronic Resource
English
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