README.md

Racing Track Driving

We are committed to implementing path planning and control for race cars under the condition of minimum time.

Installation

pip install -r requirements.txt

Running the Code

• step1:(optional)Adjust the parameters in main.py, including itertimes and pars.
• step2:run the code

  python3 -u ./main.py

  then you can see the results in ./data and ./fig, which show you the information of state variables, control variables and the track and so on.

References

• Minimum Curvature Trajectory Planning
  Heilmeier, Wischnewski, Hermansdorfer, Betz, Lienkamp, Lohmann
  Minimum Curvature Trajectory Planning and Control for an Autonomous Racecar
  DOI: 10.1080/00423114.2019.1631455
  Contact person: Alexander Heilmeier.