Optimization of Vehicular Trajectories under Gaussian Noise Disturbances

Nowadays, research on Vehicular Technology aims at automating every single mechanical element of vehicles, in order to increase passengers’ safety, reduce human driving intervention and provide entertainment services on board. Automatic trajectory tracing for vehicles under especially risky circumst...

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Bibliographic Details
Published in:Future internet 2013-03, Vol.5 (1), p.1-20
Main Authors: Tomas-Gabarron, Juan-Bautista, Egea-Lopez, Esteban, Garcia-Haro, Joan
Format: Article
Language:English
Subjects:
Analysis
Automation
Automobile driving
Automobiles
Control systems
Control theory
Internet
Navigation
Noise
Optimization
optimum control
optimum maneuvering
Performance evaluation
Roads & highways
Sensors
Studies
vehicle safety
Vehicles
Wireless communications
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Summary:Nowadays, research on Vehicular Technology aims at automating every single mechanical element of vehicles, in order to increase passengers’ safety, reduce human driving intervention and provide entertainment services on board. Automatic trajectory tracing for vehicles under especially risky circumstances is a field of research that is currently gaining enormous attention. In this paper, we show some results on how to develop useful policies to execute maneuvers by a vehicle at high speeds with the mathematical optimization of some already established mobility conditions of the car. We also study how the presence of Gaussian noise on measurement sensors while maneuvering can disturb motion and affect the final trajectories. Different performance criteria for the optimization of such maneuvers are presented, and an analysis is shown on how path deviations can be minimized by using trajectory smoothing techniques like the Kalman Filter. We finalize the paper with a discussion on how communications can be used to implement these schemes.
ISSN:1999-5903
1999-5903
DOI:10.3390/fi5010001