Model-based online trajectory planning for time optimal race lines

被引：9
|
作者：
Gundlach, Ingmar [1 ]
Konigorski, Ulrich [1 ]
机构：
[1] Tech Univ Darmstadt, Inst Automatisierungs Tech & Mechatron, Landgraf Georg Str 4, D-64283 Darmstadt, Germany
来源：
AT-AUTOMATISIERUNGSTECHNIK | 2019年 / 67卷 / 09期
关键词：
trajectory planning; automated driving; time optimal; race line; limits of driving dynamics; optimization; CAR;
D O I：
10.1515/auto-2019-0032
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The article describes a method for time optimal trajectory planning. The lateral and longitudinal planning are carried out simultaneously based on a nonlinear single-track model. The optimization problem is transformed from time domain into spatial domain. The planning is used for circuits as well as for moving horizon planning taking static objects into account. In addition to the lap time, the focus is on comfort and computing time.
引用
收藏
页码：799 / 813
页数：15
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