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A Brief Overview on Ion Current Detecting Technology of Gasoline Engines and Its Application Potential in FSAE Read chapter Read first chapter

2022 | OriginalPaper | Chapter

Real-Time Motion Planning and Control for a Formula Student Driverless Car

Authors : Tairan Chen, Xinyu Gao, Chenrui Huang, Xiang Li, Shaokun Yang, Hailong Gong, Yunji Feng

Published in: Proceedings of China SAE Congress 2020: Selected Papers

Publisher: Springer Nature Singapore

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Abstract

This paper presents a planning and control pipeline for an autonomous race car to drive around a track that may not be previously known for three laps. In the case of a limited perception range in the first lap, boundary detection and motion planning separately extract and optimize the trajectory to minimize the trajectory curvature. After finishing the mapping, multi-strategy NMPC is used to optimize or track the trajectory. We use the real-world map data from Formula Student Autonomous China 2019 for experiments. The experiment shows that under the same vehicle model, the system can significantly improve the performance of the race car.

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previous chapter Estimation of Vehicle Centroid Side Angle Based on Neural Network
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Metadata
Title
Real-Time Motion Planning and Control for a Formula Student Driverless Car
Authors
Tairan Chen
Xinyu Gao
Chenrui Huang
Xiang Li
Shaokun Yang
Hailong Gong
Yunji Feng
Copyright Year
2022
Publisher
Springer Nature Singapore
Book
Proceedings of China SAE Congress 2020: Selected Papers

Print ISBN: 978-981-16-2089-8

Electronic ISBN: 978-981-16-2090-4

Copyright Year: 2022

DOI
https://doi.org/10.1007/978-981-16-2090-4_12

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