Direct optimal control methods are used to obtain the time minimal trajectory for a race circuit. All states, controls, and the 5 gear switching structure of the dynamic model are completely subject to optimization. The race circuit (N¨urburgring) is modeled with two cubic splines for the center line as well as the width of the track. The discrete gear choices are modeled using the outer convexification approach. Gear switches are minimized with a novel switching cost formulation. The solution is obtained using the FALCON.m optimal control toolbox together with the non-linear interior point optimizer IPOPT.     «

Direct optimal control methods are used to obtain the time minimal trajectory for a race circuit. All states, controls, and the 5 gear switching structure of the dynamic model are completely subject to optimization. The race circuit (N¨urburgring) is modeled with two cubic splines for the center line as well as the width of the track. The discrete gear choices are modeled using the outer convexification approach. Gear switches are minimized with a novel switching cost formulation. The solution i...     »