Mathematical Algorithmic Optimization - Otto-von-Guericke-University Magdeburg

 
 
 
 
 
 
 
 

Automotive Engineering

Triggered by technological advances, automated driving of vehicles is a reality. Actually driving vehicles, the use of integrated training devices that tell drivers what they should do, and GPS based look-ahead control strategies raise the question of what the optimal way of driving the vehicle would be. Optimality typically refers to energy consumption, time, driver's comfort, hardware wear-off, or a combination of these objectives.

Control problems that arise in this research field have at least two characteristics which stimulate development of novel mathematical methods. First, the real-time requirements are high as the time between measurements and a reaction of the controler is limited due to the possibly high driving speed. Second, models of interest involve discrete decisions, such as the optimal choice of gear or mode of operation in hybrid vehicles. Nonlinear Model Predictive Control problems in Automotive Engineering are hence in the class of MIOCP.


Visualization of a time-optimal ride on the Hockenheim ring, by Florian Kehrle and Sebastian Sager. The solution has been calculated with modern mathematical methods. It is based on a simplified dynamical model, including nonlinear tire dynamics. The optimization took the gear choice explicitely into account. The solution is open loop without any feedback and for one complete round.

Selected publications



AuthorTitleYearJournal/ProceedingsReftypeLink
Buchner, A. Auf Dynamischer Programmierung basierende nichtlineare modellprädiktive Regelung für LKW 2010 School: Ruprecht-Karls-Universität Heidelberg   mastersthesis
preprint  
BibTeX:
@mastersthesis{Buchner2010,
  author = {A. Buchner},
  title = {{A}uf {D}ynamischer {P}rogrammierung basierende nichtlineare modellpr\"adiktive {R}egelung f\"ur {LKW}},
  school = {Ruprecht-Karls-Universit\"at Heidelberg},
  year = {2010},
  url = {http://mathopt.de/PUBLICATIONS/Buchner2010.pdf}
}
Frasch, J. V., Gray, A. J., Zanon, M., Ferreau, H. J., Sager, S., Borrelli, F. & Diehl, M. An Auto-generated Nonlinear MPC Algorithm for Real-Time Obstacle Avoidance of Ground Vehicles 2013 Proceedings of the European Control Conference   inproceedings
 
BibTeX:
@inproceedings{Frasch2013b,
  author = {Frasch, J. V. and Gray, A. J. and Zanon, M. and Ferreau, H. J. and Sager, S. and Borrelli, F. and Diehl, M.},
  title = {{A}n {A}uto-generated {N}onlinear {MPC} {A}lgorithm for {R}eal-{T}ime {O}bstacle {A}voidance of {G}round {V}ehicles},
  booktitle = {{P}roceedings of the {E}uropean {C}ontrol {C}onference},
  year = {2013}
}
Frasch, J. V., Kraus, T., Saeys, W. & Diehl, M. Moving Horizon Observation for Autonomous Operation of Agricultural Vehicles 2012 Proceedings of the European Control Conference (ECC)   inproceedings
 
BibTeX:
@inproceedings{Frasch2012b,
  author = {Frasch, J. V. and Kraus, T. and Saeys, W. and Diehl, M.},
  title = {{M}oving {H}orizon {O}bservation for {A}utonomous {O}peration of {A}gricultural {V}ehicles},
  booktitle = {{P}roceedings of the {E}uropean {C}ontrol {C}onference ({ECC})},
  year = {2012}
}
Gao, Y., Gray, A., Frasch, J. V., Lin, T., Tseng, E., Hedrick, J. & Borrelli, F. Spatial Predictive Control for Agile Semi-Autonomous Ground Vehicles 2012 Proceedings of the 11th International Symposium on Advanced Vehicle Control   inproceedings
 
BibTeX:
@inproceedings{Gao2012,
  author = {Y. Gao and A. Gray and J. V. Frasch and T. Lin and E. Tseng and J.K. Hedrick and F. Borrelli},
  title = {{S}patial {P}redictive {C}ontrol for {A}gile {S}emi-{A}utonomous {G}round {V}ehicles},
  booktitle = {{P}roceedings of the 11th {I}nternational {S}ymposium on {A}dvanced {V}ehicle {C}ontrol},
  year = {2012}
}
Kehrle, F., Frasch, J., Kirches, C. & Sager, S. Optimal control of Formula 1 race cars in a VDrift based virtual environment 2011 Proceedings of the 18th IFAC World Congress   inproceedings DOI
preprint  
BibTeX:
@inproceedings{Kehrle2011,
  author = {Kehrle, F. and Frasch, J.V. and Kirches, C. and Sager, S.},
  title = {{O}ptimal control of {F}ormula 1 race cars in a {VDrift} based virtual environment},
  booktitle = {{P}roceedings of the 18th {IFAC} {W}orld {C}ongress},
  year = {2011},
  editor = {S. Bittanti and A. Cenedese and S. Zampieri},
  pages = {11907--11912},
  address = {Milan, Italy},
  url = {http://mathopt.de/PUBLICATIONS/Kehrle2011.pdf},
  doi = {http://dx.doi.org/10.3182/20110828-6-IT-1002.02954}
}
Kirches, C., Bock, H., Schlöder, J. & Sager, S. Mixed-integer NMPC for predictive cruise control of heavy-duty trucks 2013 European Control Conference   inproceedings
 
BibTeX:
@inproceedings{Kirches2013,
  author = {C. Kirches and H.G. Bock and J.P. Schl\"oder and S. Sager},
  title = {{M}ixed-integer {NMPC} for predictive cruise control of heavy-duty trucks},
  booktitle = {{E}uropean {C}ontrol {C}onference},
  year = {2013},
  pages = {4118--4123},
  address = {Zurich, Switzerland}
}
Kirches, C., Sager, S., Bock, H. & Schlöder, J. Time-optimal control of automobile test drives with gear shifts 2010 Optimal Control Applications and Methods   article
preprint  
BibTeX:
@article{Kirches2010,
  author = {C. Kirches and S. Sager and H.G. Bock and J.P. Schl\"oder},
  title = {{T}ime-optimal control of automobile test drives with gear shifts},
  journal = {{O}ptimal {C}ontrol {A}pplications and {M}ethods},
  year = {2010},
  volume = {31},
  number = {2},
  pages = {137--153},
  url = {http://mathopt.de/PUBLICATIONS/Kirches2010.pdf}
}
Sorgatz, S. Optimization of Vehicular Traffic at Traffic-Light Controlled Intersections 2016 School: Otto-von-Guericke University Magdeburg   phdthesis
preprint  
BibTeX:
@phdthesis{Sorgatz2016,
  author = {Sorgatz, S.},
  title = {Optimization of Vehicular Traffic at Traffic-Light Controlled Intersections},
  school = {Otto-von-Guericke University Magdeburg},
  year = {2016},
  url = {https://www.mathopt.de/PUBLICATIONS/Sorgatz2016.pdf}
}
Zanon, M., Frasch, J. & Diehl, M. Nonlinear Moving Horizon Estimation for Combined State and Friction Coefficient Estimation in Autonomous Driving 2013 Proceedings of the European Control Conference   inproceedings
 
BibTeX:
@inproceedings{Zanon2013b,
  author = {Zanon, M. and Frasch, J. and Diehl, M.},
  title = {{N}onlinear {M}oving {H}orizon {E}stimation for {C}ombined {S}tate and {F}riction {C}oefficient {E}stimation in {A}utonomous {D}riving},
  booktitle = {{P}roceedings of the {E}uropean {C}ontrol {C}onference},
  year = {2013}
}
Zanon, M., Frasch, J., Vukov, M., Sager, S. & Diehl, M. Model Predictive Control of Autonomous Vehicles 2014 Optimization and Optimal Control in Automotive Systems   incollection DOI
preprint  
BibTeX:
@incollection{Zanon2014,
  author = {Zanon, Mario and Frasch, JanickV. and Vukov, Milan and Sager, Sebastian and Diehl, Moritz},
  title = {Model Predictive Control of Autonomous Vehicles},
  booktitle = {Optimization and Optimal Control in Automotive Systems},
  publisher = {Springer International Publishing},
  year = {2014},
  editor = {Waschl, Harald and Kolmanovsky, Ilya and Steinbuch, Maarten and del Re, Luigi},
  volume = {455},
  series = {Lecture Notes in Control and Information Sciences},
  pages = {41--57},
  url = {http://dx.doi.org/10.1007/978-3-319-05371-4_3},
  doi = {http://dx.doi.org/10.1007/978-3-319-05371-4_3}
}

Further references of the MathOpt group can be found on this page.

Last Modification: 2017-04-05 - Contact Person: Sebastian Sager - Impressum