Mission Performance: Automatic and Adaptive Race Pace Progression for Autonomous Racing

2026-09-10

AI Summary

本文介绍了一种用于全自动驾驶赛车的任务性能模块，通过自适应调整目标性能而非改变车辆模型参数来提高圈速并确保安全。

Abstract

In this paper, we describe the Mission Performance module implemented for a fully autonomous racing car to automatically manage the longitudinal, lateral, and combined performances, aiming to speedup the laptime progression while assuring safety. Motivated by the difficulty and risks of applying the real-time estimation of the grip to critical modules like the motion planner and controller, the Mission Performance guides these modules adapting their target performance instead of changing the vehicle model parameters. The module is formed by pre-defined progressions to warm up the tires at the beginning of a run. Then, the system continuously monitors safety and vehicle dynamics metrics on a per-sector basis to adaptively reduce, maintain, or increase the performance levels for each sector, progressively converging toward the maximum allowed value. The solution's effectiveness is demonstrated on the EAV-25, a fully autonomous Dallara Superformula, at the Yas Marina Circuit during the Abu Dhabi Autonomous Racing League (A2RL) Season 2.

Problem

• autonomous racing
• performance management
• safety assurance
• laptime progression

Innovation

• Mission Performance
• Adaptive Race Pace Progression
• Autonomous Racing
• Vehicle Dynamics Metrics
• Safety Assurance