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Approximate Dynamic Programming Methods Applied to Far Trajectory Planning in Optimal Control

Wahl, Hans-Georg; Holzäpfel, Marc; Gauterin, Frank ORCID iD icon 1
1 Institut für Fahrzeugsystemtechnik (FAST), Karlsruher Institut für Technologie (KIT)

Abstract (englisch):

There are several applications that need far trajectory planning within optimal control problems. One use case is the optimal predictive control of plug-in hybrid electric vehicles (PHEV). It is possible to find an optimal control with models of the vehicle and environment and a fast optimization algorithm that is capable to calculate over long distances within seconds so that dynamic information such as traffic can be recognized quickly. In this paper, several methods based on dynamic programming (DP) are combined to generate approximated optimal control trajectories with a reduced computational complexity to achieve close-to-real-time application. The resulting trajectories are transferred as strategic planning trajectory to subordinated vehicle controllers. Close-to-optimal trajectories are achieved with a large reduction in memory.


Originalveröffentlichung
DOI: 10.1109/IVS.2014.6856459
Scopus
Zitationen: 18
Dimensions
Zitationen: 13
Zugehörige Institution(en) am KIT Institut für Fahrzeugsystemtechnik (FAST)
Publikationstyp Proceedingsbeitrag
Publikationsjahr 2014
Sprache Englisch
Identifikator ISBN: 978-147993638-0
KITopen-ID: 1000045489
Erschienen in IEEE Intelligent Vehicles Symposium Proceedings, Dearborn, Miami, USA, June 8-11, 2014
Verlag IEEE Intelligent Transportation Systems Council
Seiten 1085-1090
Externe Relationen Abstract/Volltext
Nachgewiesen in Scopus
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