Autonomous driving has been a topic of great interest in several areas, from which motor racing is no exception. Aiming to autonomously control the future Formula Student Lisboa vehicle, this work is developed with the objective of implementing different strategies for control and path planning, with the purpose of minimising race lap times. These strategies are tested in simulation, using a realistic model of the prototype. The approach followed involves the decoupling of the lateral and longitudinal subsystems, where the reference path is obtained using artificial potential fields and then combined with a two passes algorithm developed to generate a speed profile. This allows to obtain a sub-optimal solution that adequately portrays the expected behaviour of a human driver while respecting traction conditions.
Path Planning and Guidance Laws of a Formula Student Driverless Car
Lect. Notes Electrical Eng.
APCA International Conference on Automatic Control and Soft Computing ; 2022 ; Caparica, Portugal July 06, 2022 - July 08, 2022
02.07.2022
11 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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