Abstract
Driving on the limits of vehicle dynamics requires predictive planning of future vehicle states. In this work, a search-based motion planning is used to generate suitable reference trajectories of dynamic vehicle states with the goal to achieve the minimum lap time on slippery roads. The search-based approach enables to explicitly consider a nonlinear vehicle dynamics model as well as constraints on states and inputs so that even challenging scenarios can be achieved in a safe and optimal way. The algorithm performance is evaluated in simulated driving on a track with segments of different curvatures. Our code is available at https://git.io/JenvB.
Z. Ajanovic and E. Regolin—Equal contributions. Ajanovic focused on algorithmic while Regolin on vehicle dynamics part.
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Acknowledgment
The project leading to this study has received funding from the European Union’s Horizon 2020 research and innovation programme under the Marie Skłodowska-Curie grant agreement No 675999, ITEAM project. VIRTUAL VEHICLE Research Center is funded within the COMET - Competence Centers for Excellent Technologies - programme by the Austrian Federal Ministry for Transport, Innovation and Technology (BMVIT), the Federal Ministry of Science, Research and Economy (BMWFW), the Austrian Research Promotion Agency (FFG), the province of Styria and the Styrian Business Promotion Agency (SFG). The COMET programme is administrated by FFG.
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Ajanovic, Z., Regolin, E., Stettinger, G., Horn, M., Ferrara, A. (2020). Search-Based Motion Planning for Performance Autonomous Driving. In: Klomp, M., Bruzelius, F., Nielsen, J., Hillemyr, A. (eds) Advances in Dynamics of Vehicles on Roads and Tracks. IAVSD 2019. Lecture Notes in Mechanical Engineering. Springer, Cham. https://doi.org/10.1007/978-3-030-38077-9_134
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DOI: https://doi.org/10.1007/978-3-030-38077-9_134
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