Direct Collocation for Minimum Lap Time Planning of Articulated Vehicles with Independent Steering, Torque, and Camber Control

This study investigates a vehicle equipped with independent steering, torque, and camber control for each wheel, modeled using a multibody approach. The vehicle model is embedded into a minimum lap time problem, employing a direct collocation formulation. The optimization algorithm utilized is a hybrid Articulated Body Algorithm (ABA). Following a detailed description of the vehicle model, the study presents results from the optimization of the vehicle's performance on sections of the Nordschleife-Nürburgring circuit and a kart track in Siena. These results are analyzed to evaluate the impact of the vehicle's features on overall lap time and driving style. In the final chapter, a temperature-dependent tire model is introduced, and a subsequent data set is provided to demonstrate the effects of tyre temperature on lap time.