Traction Adaptive Motion Planning and Control at the Limits of Handling

In this article, we address the problem of motion planning and control at limits handling, under locally varying traction conditions. We propose a novel solution method where variations over prediction horizon are represented by time-varying tire force constraints, derived from predictive friction estimate. A constrained finite time optimal (CFTOC) is solved in receding fashion, imposing these constraints. Furthermore, our features an integrated sampling augmentation procedure that addresses problems infeasibility sensitivity to local minima arise abrupt constraint alterations, for example, due sudden changes. validate proposed algorithm on Volvo FH16 heavy-duty vehicle, range critical scenarios. Experimental results indicate adaptive improves vehicle’s capacity avoid accidents, both when adapting low traction, ensuring dynamic feasibility planned motion, high realizing utilization.