On January 17^th, 2023 at 11.50 am Alberto Lucchini, PHD Student, will give a seminar on "Three-Dimensional Vehicle Dynamics Analysis, Modeling and Simulation for Autonomous Racing Applications" in DEIB Conference Room.

Autonomous racing represents an interesting scenario to boost autonomous driving development and testing, as it pushes the limits of technology through competition, while remaining confined to a controlled and regulated

environment. Among the self-driving competitions, the Indy Autonomous Challenge is a series of races taking place in American-style oval racetracks such as the Indianapolis, Las Vegas and Texas motor speedways. All these circuits are characterized by significant three-dimensional features (e.g. banking in the corners), resulting in non-trivial challenges in the analysis, modeling and simulation of the autonomous vehicle dynamics.

We present a geometric-differential framework based on the concepts of ribbon and Darboux reference frame to model this kind of racetracks and the dynamics of vehicles moving on them. In particular, we describe the application of this framework to three different control-related problems: localization and state estimation using an Extended Kalman Filter, trajectory optimization via optimal control for lap-time minimization, high-accuracy three-dimensional vehicle dynamics description for hardware-in-the-loop simulation.