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Control algorithm for an autonomous electric race car

Brouwers, Thomas ; Libert, Louis
(2023)

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Brouwers_24061800_Libert_21321800_2023.pdf
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Details

Supervisors
Hendrickx, Julien
Faculty
Ecole polytechnique de Louvain
Degree label
Master [120] : ingénieur civil électromécanicien, à finalité spécialisée: mécatronique
Abstract
This paper presents a comprehensive exploration of control algorithms for optimizing performance in autonomous race cars. The control algorithm designed in this research is split into two key components: path planning and path following, with a focus on the path following algorithm and more specifically on the implementation of a Model Predictive Contouring Control (MPCC). The objective of this study is to develop a competitive algorithm that can be applied to the autonomous electric race car built by Formula Electric Belgium for participation in the Formula Student Driverless competition. The research explores the intricacies of path following, optimizing steering, throttle, and brake inputs to maximize the progress of the car while staying within the track boundaries. Various solutions are explored, encompassing different optimization problem formulations, car models, and optimization solvers. The effectiveness of these solutions is evaluated using the Formula Student Driverless Simulator. The study thoroughly discusses the benefits and challenges of the MPCC algorithm, presenting compelling results and performances achieved through various strategies. It provides valuable insights for the implementation of control systems in autonomous race cars and suggests promising avenues for future research to further enhance control performance in this context.