Optimal control based approach for autonomous driving

In this paper based on vehicle single track model an optimal control strategy for autonomous driving is developed. The reference control values which lead the vehicle alongside a calculated optimal path by satisfying optimization objective criteria such as comfort and safety are generated by real-time path optimization level. In this level to avoid any collision and obstacle, one dimensional potential field obstacle avoiding approach based on the distance between vehicle and obstacle is used. In a prior level, which is called path planning the initial solution of the system which is the input of path optimization level is found. In this paper each level and the effect of initial solution on path optimization level is explained.