Path following control for autonomous formula racecar: Autonomous formula student competition

Abstract

This paper summarizes our work of an envelope path following controller for a four-wheel independently actuated (FWIA) autonomous racecar. The controller consists of three modules through the integrated control of active front-wheel steer (AFS) and direct yaw-moment control (DYC). An electric autonomous Formula Student racecar is used as testbed to test the controller Moreover, the Formula Student competition is introduced. With the cooperation with SAE China, the authors are trying to establish the autonomous Formula Student racecar competition in China. In this paper, the basic concept and rules of autonomous Formula Student racecar competition is described.