Dynamic Optimization of Multibody System Using Multithread Calculations and a Modification of Variable Metric Method

Abstract

The paper presents dynamic optimization methods used to calculate the optimal braking torques applied to wheels of an articulated vehicle in the lane following/changing maneuver in order to prevent a vehicle rollover. In the case of unforeseen obstacles, the nominal trajectory of the articulated vehicle has to be modified, in order to avoid collisions. Computing the objective function requires an integration of the equation of motions of the vehicle in each optimization step. Since it is rather time-consuming, a modification of the classical gradient method—variable metric method (VMM)—was proposed by implementing parallel computing on many cores of computing unit processors. Results of optimization calculations providing stable motion of a vehicle while performing a maneuver and a description and results of parallel computing are presented in this paper.