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Document type:
Zeitschriftenaufsatz 
Author(s):
Christ, F.; Wischnewski, A.; Heilmeier, A.; Lohmann, B. 
Title:
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...    »
 
Keywords:
Trajectory planning, numerical optimal control, nonlinear programming, variable tyre-road friction coefficients, autonomous race car 
Dewey Decimal Classification:
620 Ingenieurwissenschaften 
Journal title:
Vehicle System Dynamics 
Year:
2019 
Year / month:
2019-12 
Quarter:
4. Quartal 
Month:
Dec 
Pages contribution:
S. 1-25 
Covered by:
Scopus; Web of Science 
Reviewed:
ja 
Language:
en 
Publisher:
Taylor & Francis 
Publisher address:
Oxon, Egnland 
Print-ISSN:
0042-3114 
E-ISSN:
1744-5159 
Status:
Verlagsversion / published 
Accepted:
18.11.2019 
Date of publication:
22.12.2019 
TUM Institution:
Lehrstuhl für Regelungstechnik