Závodění s oponentem pro autonomní auto F1/10

Abstract

Táto diplomová práca sa zaoberá detekciou vhodných miest na predbiehanie jedného súpera na pretekárskej dráhe. Na základe prieskumu súčasných riešení danej problematiky, sme navrhli a implementovali plánovač predbiehacích manévrov. Plánovaním viecerých trajektórií na rozdieľnych miestach na trati, sme úspešne identifikovali vhodné miesta na predbiehanie. Aby sme ukázali realizovateľnosť naplánovaných manévrov, niektoré z nich sme otestovali v simulácií, ako aj v realite za použitia modelu vozdila F1TENTH.This thesis focuses on the detection of overtaking zones on a racing track when competing against one opponent. A review of the current solutions and overtaking rules was conducted. Based on this review, we developed and implemented a planner that computes dynamically feasible overtaking manoeuvres. The maneuvers were planned with respect to the competition racing rules. By planning multiple trajectories on different parts of the track, we were able to successfully identify possible overtaking zones. The method was tested on multiple tracks with different opponent trajectories and vehicle parameters. To validate the feasibility of the planned manoeuvres, we executed a few of them in the simulation and real-life using the F1TENTH platform.