In this paper, we present a novel formulation to model the effects of a locked differential on the lateral dynamics of an autonomous open-wheel racecar. The model is used in a Model Predictive Controller in which we included a micro-steps discretization approach to accurately linearize the dynamics and produce a prediction suitable for real-time implementation. The stability analysis of the model is presented, as well as a brief description of the overall planning and control scheme which includes an offline trajectory generation pipeline, an online local speed profile planner, and a low-level longitudinal controller. An improvement of the lateral path tracking is demonstrated in preliminary experimental results that have been produced on a Dallara AV-21 during the first Indy Autonomous Challenge event on the Monza F1 racetrack. Final adjustments and tuning have been performed in a high-fidelity simulator demonstrating the effectiveness of the solution when performing close to the tire limits.

该研究提出了一种新的公式来模拟锁定差速器对自主式跑车横向动力学的影响，并在模型预测控制器中使用了微步骤离散化方法来准确线性化动力学并生成适合实时实施的预测。在该研究中，介绍了模型的稳定性分析以及整体规划和控制方案的简述，包括离线轨迹生成流水线、在线局部速度规划器和低级纵向控制器。在蒙扎F1赛道上进行的第一届Indy自主挑战赛上，通过初步的实验结果展示了横向路径跟踪的改善效果。在高保真度仿真器中进行了最终的调整和调优，证明了该解决方案在接近轮胎限制时的有效性。

准确控制带锁定差速器自动赛车的三轮车模型