论文标题
自动赛车赛车的最低赛车时间计划策略
Minimum Race-Time Planning-Strategy for an Autonomous Electric Racecar
论文作者
论文摘要
对自动乘用车的越来越关注也引起了对自主赛车系列赛的兴趣。因此，Roborace和Indy自主挑战等平台目前正在发展。电动赛车面临着电池内有限储存的能量的挑战。此外，全电动动力总成对比赛表现的热力学影响至关重要。当热量过度压力时，动力总成组件可能会造成严重损害。在这项工作中，我们提出了一种从最佳控制问题（OCP）得出的赛车时间最小控制策略，该策略被转录为非线性问题（NLP）。它的优化变量源于驱动动力学以及电动动力总成的热力学描述。我们推断出必要的一阶普通微分方程（ODE）S，并为数值优化内实现的简化损失模型。显示了动力总成行为对种族策略的重要影响。
Increasing attention to autonomous passenger vehicles has also attracted interest in an autonomous racing series. Because of this, platforms such as Roborace and the Indy Autonomous Challenge are currently evolving. Electric racecars face the challenge of a limited amount of stored energy within their batteries. Furthermore, the thermodynamical influence of an all-electric powertrain on the race performance is crucial. Severe damage can occur to the powertrain components when thermally overstressed. In this work we present a race-time minimal control strategy deduced from an Optimal Control Problem (OCP) that is transcribed into a Nonlinear Problem (NLP). Its optimization variables stem from the driving dynamics as well as from a thermodynamical description of the electric powertrain. We deduce the necessary first-order Ordinary Differential Equations (ODE)s and form simplified loss models for the implementation within the numerical optimization. The significant influence of the powertrain behavior on the race strategy is shown.
