This content is not included in your SAE MOBILUS subscription, or you are not logged in.
Trail-Braking Driver Input Parameterization for General Corner Geometry
ISSN: 0148-7191, e-ISSN: 2688-3627
Published January 02, 2008 by SAE International in United States
Annotation ability available
Trail-Braking (TB) is a common cornering technique used in rally racing to negotiate tight corners at (moderately) high speeds. In a previous paper by the authors it has been shown that TB can be generated as the solution to the minimum-time cornering problem, subject to fixed final positioning of the vehicle after the corner. A TB maneuver can then be computed by solving a non-linear programming (NLP). In this work we formulate an optimization problem by relaxing the final positioning of the vehicle with respect to the width of the road in order to study the optimality of late-apex trajectories typically followed by rally drivers. We test the results on a variety of corners. The optimal control inputs are approximated by simple piecewise linear input profiles defined by a small number of parameters. It is shown that the proposed input parameterization can generate close to optimal TB along the various corner geometries.
CitationVelenis, E., Tsiotras, P., and Lu, J., "Trail-Braking Driver Input Parameterization for General Corner Geometry," SAE Technical Paper 2008-01-2986, 2008, https://doi.org/10.4271/2008-01-2986.
- Hendrikx J. Meijlink T. Kriens R. “Application of optimal control theory to inverse simulation of car handling,” Vehicle System Dynamics 26 449 461 1996
- Casanova D. Sharp R. S. Symonds P. “Minimum time maneuvering: The significance of yaw inertia,” Vehicle System Dynamics 34 77 115 2000
- Siegler B. Crolla D. “Racing Car Simulation and the Virtual Race Track,” 2001 ASME International Mechanical Engineering Congress and Exposition New Tork, NY 231 238 2001
- Velenis E. Tsiotras P. “Minimum time vs maximum exit velocity path optimization during cornering,” 2005 IEEE International Symposium on Industrial Electronics Dubrovnic, Croatia June 2005 355 360
- Velenis E. Tsiotras P. Lu J. “Modeling aggressive maneuvers on loose surfaces: The cases of trail-braking and pendulum-turn,” Proceedings of the 2007 European Control Conference Kos, Greece July 2-5 2007
- Velenis E. Tsiotras P. Lu J. “Aggressive maneuvers on loose surfaces: Data Analysis and Input Parameterization,” 15 th Mediterranean Conference on Control and Automation Athens, Greece June 27-29 2007
- O'Neil T. 2006
- O'Neil T. “Rally Driving Manual,” Team O'Neil Rally School and Car Control Center 2006
- Bakker E. Nyborg L. Pacejka H. B. “Tyre Modelling for Use in Vehicle Dynamics Studies,” SAE Paper No. 870421 1987
- Gill P.E. Murray W. Saunders M.A. Wright M. H. “User's Guide for NPSOL (version 4.0),” Dept. of Operations Research, Stanford University CA 1986
- Lagarias J.C. Reeds J.A. Wright M.H. Wright P.E. “Convergence Properties of the Nelder-Mead Simplex Methods in Low Dimensions,” SIAM Journal of Optimization 9 1 112 147 1998
- www.carsim.com Mechanical Simulation Corp. Ann Arbor, Ml