CUED Publications database

Vehicle trajectory linearisation to enable efficient optimisation of the constant speed racing line

Timings, JP and Cole, DJ (2012) Vehicle trajectory linearisation to enable efficient optimisation of the constant speed racing line. Vehicle System Dynamics, 50. pp. 883-901. ISSN 0042-3114

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Abstract

A driver model is presented capable of optimising the trajectory of a simple dynamic nonlinear vehicle, at constant forward speed, so that progression along a predefined track is maximised as a function of time. In doing so, the model is able to continually operate a vehicle at its lateral-handling limit, maximising vehicle performance. The technique used forms a part of the solution to the motor racing objective of minimising lap time. A new approach of formulating the minimum lap time problem is motivated by the need for a more computationally efficient and robust tool-set for understanding on-the-limit driving behaviour. This has been achieved through set point-dependent linearisation of the vehicle model and coupling the vehicle-track system using an intrinsic coordinate description. Through this, the geometric vehicle trajectory had been linearised relative to the track reference, leading to new path optimisation algorithm which can be formed as a computationally efficient convex quadratic programming problem. © 2012 Copyright Taylor and Francis Group, LLC.

Item Type: Article
Uncontrolled Keywords: Driver model Driver-vehicle system Lap time simulation Model predictive control Motorsport Nonlinear vehicle
Subjects: UNSPECIFIED
Divisions: Div C > Applied Mechanics
Depositing User: Cron Job
Date Deposited: 07 Mar 2014 11:29
Last Modified: 08 Dec 2014 02:39
DOI: 10.1080/00423114.2012.671946