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Interacting multiple model fi ltering to estimate competitive race car strategies


Lukas Ineichen

Master Thesis, HS11 (10108)

The Optimal Autonomous RC Racer (ORCA) project studies highspeed, real-time control of 1:43 scale race cars. In this masters thesis, an interacting multiple model (IMM) approach is used to estimate the current state and driving strategy (mode) of competing race cars, and then to make future predictions of the trajectory each competing car may follow. A challenge in this work is dealing with dynamical systems that are not explicitly available, but rather implicitly de ned through path following (with PID control) algorithms. Simulation results showing the performance of the IMM estimator under multiple scenarios are provided.


Type of Publication:

(12)Diploma/Master Thesis

S. Summers

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% Autogenerated BibTeX entry
@PhdThesis { Xxx:2012:IFA_4331
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