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Dokumenttyp:
Zeitschriftenaufsatz 
Autor(en):
Christ, F.; Wischnewski, A.; Heilmeier, A.; Lohmann, B. 
Titel:
Time-optimal trajectory planning for a race car considering variable tyre-road friction coefficients 
Abstract:
This paper shows the planning of time-optimal trajectories, which allows an autonomous race car to drive at the handling limits, taking into account locally changing road friction values. For this purpose, the minimum lap time problem is described as an optimal control problem, converted to a nonlinear programme using direct orthogonal Gauss-Legendre collocation and then solved by the interior-point method IPOPT. Reduced computing times are achieved using a curvilinear abscissa approach for trac...    »
 
Stichworte:
Trajectory planning, numerical optimal control, nonlinear programming, variable tyre-road friction coefficients, autonomous race car 
Dewey Dezimalklassifikation:
620 Ingenieurwissenschaften 
Zeitschriftentitel:
Vehicle System Dynamics 
Jahr:
2019 
Jahr / Monat:
2019-12 
Quartal:
4. Quartal 
Monat:
Dec 
Seitenangaben Beitrag:
S. 1-25 
Nachgewiesen in:
Scopus; Web of Science 
Reviewed:
ja 
Sprache:
en 
Verlag / Institution:
Taylor & Francis 
Verlagsort:
Oxon, Egnland 
Print-ISSN:
0042-3114 
E-ISSN:
1744-5159 
Status:
Verlagsversion / published 
Angenommen (von Zeitschrift):
18.11.2019 
Publikationsdatum:
22.12.2019 
TUM Einrichtung:
Lehrstuhl für Regelungstechnik