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Authors: Jaroslav Klapálek 1 ; 2 ; Ondřej Benedikt 1 ; Michal Sojka 2 and Zdeněk Hanzálek 2

Affiliations: 1 Faculty of Electrical Engineering, Czech Technical University in Prague, Technická 2, 166 27 Prague, Czech Republic ; 2 Czech Institute of Informatics, Robotics and Cybernetics, Czech Technical University in Prague, Jugoslávských partyzánů 3, 160 00 Prague, Czech Republic

Keyword(s): Lap Time Optimization, Scaled-Down Autonomous Racing, F1Tenth, F1/10.

Abstract: Lap time minimization is of interest in every automotive racing competition. However, finding an optimal racing line is not a trivial task. In this work, we study one particular part of the racing line optimization problem, namely the track segmentation problem. We analyze how different track segmentation methods influence the racing line quality. Further, we present Automated Segmentation based on Curvature (ASC) method, which creates segments adaptively according to the track layout. Using lap time estimation based on a vehicle model, we compare ASC with two other methods from the literature. The preliminary results show that optimization based on ASC is able to outperform the other tested approaches by up to 15 % for the given number of iterations while converging to a good solution 3.88 times faster than the second-best method.

CC BY-NC-ND 4.0

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Paper citation in several formats:
Klapálek, J.; Benedikt, O.; Sojka, M. and Hanzálek, Z. (2024). Study of Track Segmentation for Lap Time Optimization. In Proceedings of the 10th International Conference on Vehicle Technology and Intelligent Transport Systems - VEHITS; ISBN 978-989-758-703-0; ISSN 2184-495X, SciTePress, pages 452-455. DOI: 10.5220/0012728600003702

@conference{vehits24,
author={Jaroslav Klapálek. and Ond\v{r}ej Benedikt. and Michal Sojka. and Zdeněk Hanzálek.},
title={Study of Track Segmentation for Lap Time Optimization},
booktitle={Proceedings of the 10th International Conference on Vehicle Technology and Intelligent Transport Systems - VEHITS},
year={2024},
pages={452-455},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0012728600003702},
isbn={978-989-758-703-0},
issn={2184-495X},
}

TY - CONF

JO - Proceedings of the 10th International Conference on Vehicle Technology and Intelligent Transport Systems - VEHITS
TI - Study of Track Segmentation for Lap Time Optimization
SN - 978-989-758-703-0
IS - 2184-495X
AU - Klapálek, J.
AU - Benedikt, O.
AU - Sojka, M.
AU - Hanzálek, Z.
PY - 2024
SP - 452
EP - 455
DO - 10.5220/0012728600003702
PB - SciTePress

- Science and Technology Publications, Lda.
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