Velocity Planning for a Racing Driver Model

Arun Kumar Subbanna
Edo Drenth
Ivar Torstensson
Peter Sundström

There is limited information found in literature concerning simulation of limit handling capability of a vehicle model using a driver model. Determining the limit handling capabilities can be a valuable tool for development and analysis of vehicle designs and using a driver model is a convenient way of achieving this . This work presents two different strategies to a driver models that uses the lane for lateral position and limited a priori information about the track in the form of pre-view about curvature ahead of the car. These driver models results in longitudinal velocity planners that uses one single and one multi preview of the reference path. Both strategies have been implemented in the Vehicle Dynamics Library from Modelon using the Modellica language and simulated to illustrate their performance.

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