Dynamic Path Planning for Formula Automous Racing Cars

This paper proposes a Multi-fusion path following controller that aims to controlling the autonomous ground vehicle to the handling and driving limits, which is demonstrated by an autonomous racecar. As a worldwide competition for autonomous racecar, the Formula Student Autonomous Competition (FSAC) is introduced. Path planning and control logic is the research focus of driverless formula racing and the key to improve lap time. Based on the design parameters of college students’ formula racing car, the vehicle kinematics and dynamics models were established. Path planning was accomplished using the Module Predictive Control (MPC) method based on the track data collected by the sensors. Finally, the proposed controller is demonstrated on the self-developed autonomous racecar. The experimental results on a random racetrack are discussed to show the efficiency of the proposed controller.