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Multiple-Domain Optimal Control
Author: Otta Pavel
This work focuses on the solution of the speed profile optimization utilizing time-spatial domain transformation. The work is motivated by practical requirements and comprehensively solves the problem of speed profile optimization, from the problem formulation to the algorithm for the optimization tasks. In the proposed solution, simplicity and reliability are emphasized to facilitate transfer for potential use in the automotive industry. Practical requirements covered in this work are simplicity, reliability (solution is available at a desired time), the computational efficiency of speed profile optimization with arbitrary (e.g., zero) initial and final speed, and fixed travel time. Further, speed limits, road grades, and an adequately complex vehicle model are assumed. Optimization is robust to the speed limit violation. Moreover, passage through intersections with traffic lights with known passage intervals is also optimized.