The paper presents a strategy for the control of anautonomous racing car on a pre-mapped track. Using a dynamic model of the vehicle, the optimal racing line is computed, taking track boundaries into account. With the optimal racing line as areference, a local nonlinear model predictive controller (NMPC) is proposed, which takes into account multiple local objectives like making more progress along the race line, avoiding collision with opponent vehicles, and use of drafting to achieve more progress.

翻译：本文介绍了在预选轨道上控制自动赛车的战略。 使用机动车的动态模式,计算最佳赛线,同时考虑轨道边界。 以最佳赛线作为参考,提出了本地非线性模型预测控制器(NMPC ), 考虑到多个本地目标,如沿着赛线取得更大进展,避免与对手车辆碰撞,以及利用起草方法取得更大进展。