湖南大学学报（自然科学版）2026，Vol.53Issue(2)：14-25,12.DOI:10.16339/j.cnki.hdxbzkb.2026152
电动无人方程式赛车时间最优控制方法研究
Research on time-optimal control method for an autonomous electric fomula race car
摘要
Abstract
Focusing on high-speed tracking scenarios of autonomous electric formula race cars,this paper proposes an optimal control method for minimizing the completion time of one lap.Firstly,a minimum-time optimal control problem is constructed in the time domain based on the longitudinal dynamics and driving system model of a race car.By combining nonsmooth analysis with Pontryagin's minimum principle,an analytical optimal control strategy is derived.Secondly,to obtain the key costates of the analytical optimal control strategy,the optimal control problem is transformed from the time domain to the space domain,and further converted into a convex optimization problem in the second-order cone form.Finally,the convex optimization problem is modeled and numerically solved using MATLAB's YALMIP and MOSEK solver tools,and therefore,the optimal trajectories of key costates are obtained.Simulation results show that,with the key costates obtained from convex optimization,the analytical optimal control strategy can provide accurate optimal driving and braking operations.关键词
最优控制/非光滑分析/庞特里亚金极小值原理/凸优化/无人方程式赛车Key words
optimal control/nonsmooth analysis/Pontryagin's minimum principle/convex optimization/autonomous formula race car分类
交通工程引用本文复制引用
宋凯,廖海翔,周维,常耀东..电动无人方程式赛车时间最优控制方法研究[J].湖南大学学报（自然科学版）,2026,53(2):14-25,12.基金项目
湖南省自然科学基金项目(2022 JJ30158),Natural Science Foundation of Hunan Province(2022JJ30158) （2022 JJ30158）
