This paper studies the implementation and validation of control algorithms for an autonomous drag racing vehicle. The previously developed modeling equations are first implemented with control in a realistic simulation environment complete with synthetic sensor data and decision-making algorithms. The controller is then transformed into an embedded on-board processing unit for on-vehicle testing. Camera, lidar, and radar sensor data are investigated and algorithms are created to provide information from physical sensors rather than synthetic data. The control related to actuation of the steering, brake, throttle, and shifting systems are further discussed, along with human-vehicle interaction in terms of handoff and emergency takeovers. The control algorithms are then validated on the research vehicle. This is demonstrated by completing a fully autonomous quarter-mile drag race, complete with camera detection for the staging sequence and MPC trajectory following. Two additional safety scenarios are presented and controlled: starting the race off center and fishtailing.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Control and Validation of an Autonomous Drag Racing Vehicle


    Additional title:

    Sae Int. J. Adv. and Curr. Prac. in Mobility


    Contributors:

    Conference:

    SAE WCX Digital Summit ; 2021



    Publication date :

    2021-04-06


    Size :

    16 pages




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




    Control and Validation of an Autonomous Drag Racing Vehicle

    Donikian, Vatche / Bell, Joseph / Khairallah, Nadim et al. | British Library Conference Proceedings | 2021


    Sport compacts go drag racing

    Carney,D. | Automotive engineering | 2004


    Residual Policy Learning for Vehicle Control of Autonomous Racing Cars

    Trumpp, Raphael / Hoornaert, Denis / Caccamo, Marco | IEEE | 2023



    Aerodynamic Drag and Fuel Economy in a Formula SAE Racing Style Vehicle

    Jawad, Badih A. / Timmer, JoHanna S. / Nagy, Kevin et al. | SAE Technical Papers | 2001