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Trail-Braking Driver Input Parameterization for General Corner Geometry

Trail-Braking (TB) is a common cornering technique used in rally racing to negotiate tight corners at high speeds. It has been shown that TB can be generated as the solution to the minimum time cornering problem, subject to fixed final positioning of the vehicle after the corner, using non-linear programming (NLP). In this work we formulate the optimization problem relaxing the final positioning of the vehicle with respect to the width of the road in order to study the optimality of late-apex trajectories typically followed by rally drivers. Non-linear programming optimization is applied on a variety of corners. The optimal control inputs are approximated by simple piecewise linear input profiles defined by a small number of parameters. It is shown that the proposed input parameterization can generate close to optimal TB along the various corner geometries.