VW first project on Collision Avoidance Systems

In this preliminary work it is described the main tool to analyze a basic collision avoidance system. The mathematical model for the environment deals with single-track car model and a fixed obstacle is considered. Afterward we use the OC-OCODE.V5 software to solve the related optimal control problem. The output will be an optimal trajectory and some data useful for a basic sensitivity analysis referring to the discrete partial derivative of each state with respect to each initial state and each control and the discrete partial derivatives of the initial states and the controls with respect to each parameter. Finally we want to check the robustness of the algorithm in the sense that, if theoretically there exists at least a suitable trajectory, then the software can compute it without message errors