Automatic testdrive along a sloped road

The animation shows the automatic testdrive along a sloped road. The mathematical model is based on the single track model, which was augmented by dynamic tyre loads and force terms taking into account the longitudinal and lateral slope of the road. The trajectory was computed using OCPID-DAE1 using a model-predictive control scheme.

The results have been obtained at the Chair of Engineering Mathematics at the University of the Federal Armed Forces (