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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
Fulltext / DOI:
doi:10.1080/00423114.2019.1704804
WWW:
https://www.tandfonline.com/doi/full/10.1080/00423114.2019.1704804
Publisher:
Taylor & Francis
Publisher address:
Oxon, Egnland
Print-ISSN:
0042-3114
E-ISSN:
1744-5159
Status:
Verlagsversion / published
Submitted:
09.06.2019
Accepted:
18.11.2019
Date of publication:
22.12.2019
TUM Institution:
Lehrstuhl für Regelungstechnik
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