Longitudinal Control for Autonomous Racing with Combustion Engine Vehicles
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arXiv
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| Main Authors: | , , , , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866917997557317632 |
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| author | Pitschi, Phillip Sagmeister, Simon Goblirsch, Sven Lienkamp, Markus Lohmann, Boris |
| author_facet | Pitschi, Phillip Sagmeister, Simon Goblirsch, Sven Lienkamp, Markus Lohmann, Boris |
| contents | Usually, a controller for path- or trajectory tracking is employed in autonomous driving. Typically, these controllers generate high-level commands like longitudinal acceleration or force. However, vehicles with combustion engines expect different actuation inputs. This paper proposes a longitudinal control concept that translates high-level trajectory-tracking commands to the required low-level vehicle commands such as throttle, brake pressure and a desired gear. We chose a modular structure to easily integrate different trajectory-tracking control algorithms and vehicles. The proposed control concept enables a close tracking of the high-level control command. An anti-lock braking system, traction control, and brake warmup control also ensure a safe operation during real-world tests. We provide experimental validation of our concept using real world data with longitudinal accelerations reaching up to $25 \, \frac{\mathrm{m}}{\mathrm{s}^2}$. The experiments were conducted using the EAV24 racecar during the first event of the Abu Dhabi Autonomous Racing League on the Yas Marina Formula 1 Circuit. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2504_17418 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Longitudinal Control for Autonomous Racing with Combustion Engine Vehicles Pitschi, Phillip Sagmeister, Simon Goblirsch, Sven Lienkamp, Markus Lohmann, Boris Systems and Control Robotics Usually, a controller for path- or trajectory tracking is employed in autonomous driving. Typically, these controllers generate high-level commands like longitudinal acceleration or force. However, vehicles with combustion engines expect different actuation inputs. This paper proposes a longitudinal control concept that translates high-level trajectory-tracking commands to the required low-level vehicle commands such as throttle, brake pressure and a desired gear. We chose a modular structure to easily integrate different trajectory-tracking control algorithms and vehicles. The proposed control concept enables a close tracking of the high-level control command. An anti-lock braking system, traction control, and brake warmup control also ensure a safe operation during real-world tests. We provide experimental validation of our concept using real world data with longitudinal accelerations reaching up to $25 \, \frac{\mathrm{m}}{\mathrm{s}^2}$. The experiments were conducted using the EAV24 racecar during the first event of the Abu Dhabi Autonomous Racing League on the Yas Marina Formula 1 Circuit. |
| title | Longitudinal Control for Autonomous Racing with Combustion Engine Vehicles |
| topic | Systems and Control Robotics |
| url | https://arxiv.org/abs/2504.17418 |