Gaussian Process-based Stochastic Model Predictive Control for Overtaking in Autonomous Racing

Understand

A fundamental aspect of racing is overtaking other race cars.

• Whereas previous research on autonomous racing has majorly focused on lap-time optimization, here, we propose a method to plan overtaking maneuvers in autonomous racing.
• A Gaussian process is used to learn the behavior of the leading vehicle.
• Based on the outputs of the Gaussian process, a stochastic Model Predictive Control algorithm plans optimistic trajectories, such that the controlled autonomous race car is able to overtake the leading vehicle.