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1、Availableonlineatwww.sciencedirect.comComputersandStructures86(2008)1503–1516www.elsevier.com/locate/compstrucRacedrivermodelF.Braghin,F.Cheli,S.Melzi,E.Sabbioni*PolitecnicodiMilano,DepartmentofMechanics,ViaLaMasa34,20158Milan,ItalyReceived5March2007
2、;accepted30April2007Availableonline20March2008AbstractThebestracedriveristheonethat,withagivenvehicle,isabletodriveonagiventrackintheshortestpossibletime.Thus,theonlytargetisthelaptime.Aracedrivermodelhastodothesame.Thefirststeptowardsthistargetistode
3、cidewhichtrajectorytofollow.Infact,theoptimaltrajectoryisthebestcompromisebetweentheshortesttrackandthetrackthatallowstoachievethehighestspeeds(leastcurvaturetrack).Thus,theproblemoftrajectoryplanningisaboundedoptimisationproblemthathastotakeintoacco
4、untnotonlythegeometryofthecircuitbutalsothedynamicsofthevehicle.Asimplifiedvehicledynamicmodelisusedforthispurpose.Duetothefactthatthevehiclewillbedrivenatitslimitperformances,althoughsimplified,themodelhastocorrectlyreproducethemaximumpossibleaccelera
5、tion,afunctionofthevehiclespeed,themax-imumpossibledeceleration,againafunctionofthevehiclespeed,andthemaximumlateralacceleration,afunctionofboththevehiclespeedandthesteeringangle.Knowingthetrajectory,thevehiclemodelallowstodeterminethelaptime.Through
6、anoptimisationalgo-rithmitisthereforepossibletodeterminethebestcompromisebetweenshortesttrackandtrackwiththeminimumcurvature,i.e.thetrajectory(intermsoftrackandspeedprofile)thatallowstominimizethetimelap.Oncethebesttrajectoryhasbeendetermined(bothinte
7、rmsofbesttrackandbestspeedprofile),itisnecessarytoidentifythedriver’sinputstofollowthegiventrajectory.Thistaskiscarriedoutbyconsideringthedriverasacontrollerthatactsonanonlinearplant(thevehicle)inordertoachievethedesiredresults.Thus,thedriverconvertst
8、hebesttrajectoryintovehicle’sinputs.Themutualinteractionbetweenplantandcontroller(thedriver’sinputsarenotonlyafunctionofthebesttrajectorybutalsoofthedriver’sreactionsduetothevehicle’sdynamics)isnottakenintoaccountinthispaper.Ó2008ElsevierLtd.Allright
