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Deriving overtaking strategy from nonlinear model predictive control for a race car | IEEE Conference Publication | IEEE Xplore

Deriving overtaking strategy from nonlinear model predictive control for a race car


Abstract:

Car racing control is often assumed to take place in isolation, although the greatest strategic challenges arise in the presence of other cars. Our solution uses a combin...Show More

Abstract:

Car racing control is often assumed to take place in isolation, although the greatest strategic challenges arise in the presence of other cars. Our solution uses a combined nonlinear system model which includes the four-wheeled vehicle dynamics model and point-mass model of its opponent car. This proposed combined model allows the optimal control scheme to automatically find an overtaking strategy. The FORCES code generation tool to handle the consequent computational complexity of the Nonlinear Model Predictive Controller (NMPC). We demonstrate the practicality of the suggested method by performing real-time control in a racing simulation software.
Date of Conference: 24-28 September 2017
Date Added to IEEE Xplore: 14 December 2017
ISBN Information:
Electronic ISSN: 2153-0866
Conference Location: Vancouver, BC, Canada

References

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