%0 Journal Article
	%A R. Dariani and  S. Schmidt and  R. Kasper
	%D 2014
	%J International Journal of Computer and Information Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 93, 2014
	%T Optimization Based Obstacle Avoidance
	%U https://publications.waset.org/pdf/9999297
	%V 93
	%X Based on a non-linear single track model which
describes the dynamics of vehicle, an optimal path planning strategy
is developed. Real time optimization is used to generate reference
control values to allow leading the vehicle alongside a calculated lane
which is optimal for different objectives such as energy consumption,
run time, safety or comfort characteristics. Strict mathematic
formulation of the autonomous driving allows taking decision on
undefined situation such as lane change or obstacle avoidance. Based
on position of the vehicle, lane situation and obstacle position, the
optimization problem is reformulated in real-time to avoid the
obstacle and any car crash.

	%P 1567 - 1572