Optimizes (Maximizes) the velocity profile for a vehicle in real-time respecting physical constraints (e.g., power, force, combined acceleration, ...). Takes into account a variable friction potential between road and tires. Max. power input can be space-variable (for, e.g., energy strategy purposes).
This software is provided as-is and has not been subject to a certified safety validation. Autonomous Driving is a highly complex and dangerous task. In case you plan to use this software on a vehicle, it is by all means required that you assess the overall safety of your project as a whole. By no means is this software a replacement for a valid safety-concept. See the license for more details.
The public documentation is available through ReadTheDocs.
The internal development documentation can be found on GitLab.
The preprint of the accepted version of the corresponding paper is available on arXiv.
The paper is available on IEEE eXplore and will soon be in the printed version of the IEEE Transactions on Intelligent Vehicles:
@article{Herrmann2020,
author = {Herrmann, Thomas and Wischnewski, Alexander and Hermansdorfer, Leonhard and Betz, Johannes and
Lienkamp, Markus},
year = {2021},
title = {{Real-Time Adaptive Velocity Optimization for Autonomous Electric Cars at the Limits of Handling}},
pages = {665--677},
volume = {6},
number = {4},
issn = {2379-8904},
journal = {{IEEE Transactions on Intelligent Vehicles}},
doi = {10.1109/TIV.2020.3047858}
}