Abstract
Abstract The generation of time dependent paths is crucial for autonomous driving. While relatively simple models are sufficient for normal driving situations, more complex models are required the closer the trajectory is planned towards the handling limits. This paper considers a near time optimal trajectory generation for combined longitudinal and lateral dynamics for an over actuated vehicle. A nonlinear model predictive controller which accounts for actuator constraints is used to generate these trajectories. The predictive model is a reduced dynamic double track model with three degrees of freedom. The resulting trajectories show the ability of following a reference path with the use of all available actuators up to the handling limits.
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