Design of Driverless Racing Chassis Based on MPC

摘要

Path planning and control logic are the focus of research in Driverless Formula Racing and are key to improving lap times. Vehicle kinematics and dynamics models are designed based on the design parameters of the driverless formula racing vehicle in the competition of Formula Student Autonomous China (FSAC). The path planning is accomplished based on the track data collected by the sensors through the software of OpenLap by using the method of Model Predictive Control (MPC). The established racing dynamics model and path planning strategy are simulated by the Driving Scenario Designer in the Matlab/Simulink and gazebo in the Robot Operating System (ROS) to achieve the unmanned system of design at the decision and executive levels.