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Title:

A Model-Free Algorithm to Safely Approach the Handling Limit of an Autonomous Racecar

Document type:
Konferenzbeitrag
Contribution type:
Textbeitrag / Aufsatz
Author(s):
Wischnewski, A.; Betz, J.; Lohmann, B.
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:
Scopus; 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
Fulltext / DOI:
doi:10.1109/ICCVE45908.2019.8965218
WWW:
https://ieeexplore.ieee.org/abstract/document/8965218
TUM Institution:
Lehrstuhl für Regelungstechnik
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