5 papers
Drifting in the Future: Stabilizing Path Following Drifting on High-Latency Vehicle Systems
Frederik Werner, Till Heintzenberg, Markus Lienkamp +1
Autonomously controlling and handling a vehicle at and beyond its stability limit is a mathematically and computationally demanding task. Prior demonstrations of automated drifting…
Head-to-Head autonomous racing at the limits of handling in the A2RL challenge
Simon Hoffmann, Simon Sagmeister, Tobias Betz +17
Autonomous racing presents a complex challenge involving multi-agent interactions between vehicles operating at the limit of performance and dynamics. As such, it provides a valuab…
Online Velocity Profile Generation and Tracking for Sampling-Based Local Planning Algorithms in Autonomous Racing Environments
Alexander Langmann, Levent Ãgretmen, Frederik Werner +1
This work presents an online velocity planner for autonomous racing that adapts to changing dynamic constraints, such as grip variations from tire temperature changes and rubber ac…
GripMap: An Efficient, Spatially Resolved Constraint Framework for Offline and Online Trajectory Planning in Autonomous Racing
Frederik Werner, Ann-Kathrin Schwehn, Markus Lienkamp +1
Conventional trajectory planning approaches for autonomous vehicles often assume a fixed vehicle model that remains constant regardless of the vehicle's location. This overlooks th…
A Quasi-Steady-State Black Box Simulation Approach for the Generation of g-g-g-v Diagrams
Frederik Werner, Simon Sagmeister, Mattia Piccinini +1
The classical g-g diagram, representing the achievable acceleration space for a vehicle, is commonly used as a constraint in trajectory planning and control due to its computationa…