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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.