SMOOTHED AND REGULARIZED FISCHER-BURMEISTER SOLVER FOR EMBEDDED REAL-TIME CONSTRAINED OPTIMAL CONTROL PROBLEMS IN AUTONOMOUS SYSTEMS

摘要

To provide a system for controlling an autonomous vehicle.SOLUTION: The present invention relates to a system for controlling an autonomous vehicle. The system includes a controller. At each sampling time, the controller inputs sensor values and estimators that are calculated based on the sensor values and dynamic models and records the sensor values and the estimators in a memory of the controller. The controller incorporates the sensor values and the estimators into conditions for optimality associated with a constrained optimal control problem, maps the conditions for optimality to a non-smooth system using a Fischer-Burmeister function, performs Newton method iterations on a smoothed system approximating the non-smooth system to converge on a solution, and issues commands that control actuators during vehicle operation.SELECTED DRAWING: Figure 7