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.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Path Planning and Guidance Laws of a Formula Student Driverless Car


    Additional title:

    Lect. Notes Electrical Eng.



    Conference:

    APCA International Conference on Automatic Control and Soft Computing ; 2022 ; Caparica, Portugal July 06, 2022 - July 08, 2022


    Published in:

    CONTROLO 2022 ; Chapter : 5 ; 48-58


    Publication date :

    2022-07-02


    Size :

    11 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




    Startklar fuer die Formula Student Driverless

    Hemer,S. / Seewaldt,S. / Tech.Univ.Kaiserslautern,DE et al. | Automotive engineering | 2016


    Real-Time Motion Planning and Control for a Formula Student Driverless Car

    Chen, Tairan / Gao, Xinyu / Huang, Chenrui et al. | British Library Conference Proceedings | 2022


    Real-Time Motion Planning and Control for a Formula Student Driverless Car

    Chen, Tairan / Gao, Xinyu / Huang, Chenrui et al. | Springer Verlag | 2022


    Real-Time Motion Planning and Control for a Formula Student Driverless Car

    Chen, Tairan / Gao, Xinyu / Huang, Chenrui et al. | TIBKAT | 2022


    Autonomous Driving System Design for Formula Student Driverless Racecar

    TIAN, hanqing / NI, Jun / HU, Jibin | IEEE | 2018