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eess.SY2022
Overtaking Maneuvers on a Nonplanar Racetrack
Thomas Fork, H. Eric Tseng, Francesco Borrelli
We leverage game theory and a new vehicle modeling approach to compute overtaking maneuvers for racecars on a nonplanar surface. We solve for equilibria between noncooperative raci…
eess.SY2022
Vehicle Models and Optimal Control on a Nonplanar Surface
Thomas Fork, H. Eric Tseng, Francesco Borrelli
We present a 10 DoF dynamic vehicle model for model-based control on nonplanar road surfaces. A parametric surface is used to describe the road surface, allowing the surface parame…