The Simulation and Optimal Processes Group from Ilmenau University of Technology (TU Ilmenau) is just one of the exhibitors at the "Forschung für die Zukunft" R&D collaboration pavilion. The Group's contribution to the stand hosted by the German regions of Thuringia, Saxony and Saxony-Anhalt, is a model-based system that shows how it would roll out the concept of autonomous driving.
We present autonomous driving with high-tech model cars (Audi Q2 on a scale of 1:8). The Audi Autonomous Driving Cup is an international competition aiming at developing fully automatic driving functions and corresponding software architecture, for which our Team AFILSOP won the 1st prize in 2017. Decided for our win is the application of a model-based optimal control alogrithm. Since our algorithm considers the passenger´s desire, road situation and car dynamics, the computed driving strategy is more reliable and comfortable in comparison to the conventional methods. The realized concept is industrial-oriented and can be easily transferred to real cars.
B1: Data-based (to identify current driving conditions, permissible range, etc.)
- Laser scanner, radar
- Communication between vehicles
B2: model-based (for predicting the driving dynamics in the next time moment)
- Model equations
- Calibration of the parameters
- Description of the restriction of the permissible range
B3: algorithm-based (to calculate the driving strategy in real time)
- Solution of an optimization problem
- Computational efficiency
- Convergence properties
Evgeniya Drozdova, Siegbert Hopfgarten, Evgeny Lazutkin, Pu Li
Autonomous Driving of a Mobile Robot Using a Combined Multiple-Shooting and Collocation Method
IAV 2016 - 9th IFAC Symposium on Intelligent Autonomous Vehicles, 29.06.2016 - 01.07.2016, Leipzig, Germany