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Document type:
Konferenzbeitrag 
Contribution type:
Textbeitrag / Aufsatz 
Author(s):
Wischnewski, A.; Betz, J.; Lohmann, B. 
Title:
A Model-Free Algorithm to Safely Approach the Handling Limit of an Autonomous Racecar 
Abstract:
One of the key aspects in racing is the ability of the driver to find the handling limits of the vehicle to minimize the resulting lap time. Many approaches for raceline optimization assume the tire-road friction coefficient to be known. However, this neglects the fact that the ability of the system to realize such a race trajectory depends on complex interdependencies between the online trajectory planner, the control systems and the non-modelled uncertainties. In general, a high quality contro...    »
 
Keywords:
Autonomous Racing; Learning Control; Model-Free 
Dewey Decimal Classification:
620 Ingenieurwissenschaften 
Editor:
IEEE 
Book / Congress title:
IEEE International Conference on Connected Vehicles and Expo (ICCVE)[2019] 
Organization:
IEEE 
Date of congress:
4.-8.11.2019 
Publisher:
IEEE 
Date of publication:
23.01.2020 
Year:
2020 
Year / month:
2020-01 
Month:
Jan 
Covered by:
Web of Science 
Print-ISBN:
978-1-7281-0143-9 
E-ISBN:
978-1-7281-0142-2 
Bookseries ISSN:
2378-1297 
Reviewed:
ja 
Language:
en 
Publication format:
WWW 
TUM Institution:
Lehrstuhl für Regelungstechnik