… as well as localizing the autonomous vehicle. In an autonomous racing environment we deal
with high speeds … is running on the race track repeatedly for multiple laps. In this case the …

… Abstract—Path planning is discussed in this article for an autonomous vehicle given … vehicle
in a receding horizon manner. Linear approximation of the nonlinear equations for a vehicle …

… in autonomous vehicle technology. The challenge of racing requires the sensors, object
detection and vehicle … , to enable the vehicle to drive the track at racing speeds. The circuit is …

… for autonomous vehicle to … autonomous Formula race car developed by the authors is used
to validate the proposed controller. The autonomous driving experiment on an oval race track …

… from our work in offline racing line optimization. As described … for autonomous vehicle control
which can replan the vehicle’s … path is a racing line that uses the full width of the track, the …

… separates the problem of autonomous racing into path planning and vehicle control. Thus, …
appropriate inputs that will drive the vehicle to its friction limits while tracking the path. This is …

… in the high speed driving environment (in racing track, Figure 6) through an evaluation of
actual driving. The position information of the vehicle on a racing track can be expressed in x, y, …

… We derive deep insights into the autonomous vehicle's behavior at high speed and high …
We also want to account for interactions on the race track in the sense that each vehicle's …

… In [26], a trajectory planner which linearizes race track … We convexified track boundaries with
SL for vehicle racing in … approximation using SCR for autonomous vehicle racing with SL, a …

… Section II introduces the research vehicle and vehicle modeling. In Section III data collected
at a race track show that for an autonomous vehicle with a path-tracking steering controller, …