Samodejna tekmovalna vožnja po modelu dirkalne steze

Fajdiga, Peter (author), Orel, Bojan (mentor)

V diplomskem delu je predstavljeno iskanje optimalne poti, ki omogoča vožnjo po danem dirkališču v najmanjšem možnem času, in simulirana vožnja po njej. Razložene so relevantne fizikalne osnove ter vpliv lastnosti vozila na optimalno pot in na potreben čas za en krog po njej. Prikazano je ocenjevanje trajanja posamezne poti in dva načina minimiziranja tako izračunane vrednosti: enostaven linearen algoritem in genetski algoritem. Nazadnje je implementiran program, ki po najdeni poti vodi vozilo znotraj simulacije v igralnem pogonu Unreal Engine 4.

• Language: Slovenian
• Keywords: samodejna vožnja, dirkalna steza, optimalna pot, optimizacija
• Work type: Bachelor thesis/paper
• Organization: FRI - Faculty of Computer and Information Science
• Year: 2016
• PID: 20.500.12556/RUL-85637
• Publication date in RUL: 19.09.2016

Secondary language

• Language: English
• Title: Autonomous Competitive Driving on a Race Track Model

Abstract

This thesis presents the problem of finding the optimal racing line, which enables completing a lap on a given race track in the shortest time possible, and a simulation of a car following the line. It explains the relevant physical basics and the effect vehicle properties have on the optimal racing line and lap time. A method of estimating the duration of each individual path is presented, along with two optimization methods for minimizing the calculated value: a simple linear algorithm and a genetic algorithm. Lastly, we implement a program that guides a simulated vehicle on the racing line using Unreal Engine 4.

• Keywords: autonomous driving, race track, racing line, optimization