Smooth Reference Line Generation for a Race Track with Gates based on Defined Borders

Jasmina Zubača*, Michael Stolz, Daniel Watzenig

*Corresponding author for this work

Research output: Contribution to conferencePaperpeer-review


As racing sports pushed the technological limits of vehicles in the past, automated racing has the potential to directly evaluate new technologies from research in a competitive environment. The required speed of implementation and the fair evaluation criteria enable very fast progress in selecting potential strategies, architectures and algorithms. By this, automated racing strongly contributes to science as well as to future every day implementations of driving automation. In this publication, the approaches used by the team Autonomous-Racing-Graz at the ROBORACE final races in season alpha are revealed. The contribution describes how to generate a smooth reference line in case of non-smooth borders and additional precision gates on a race track. The generation of an initial smooth reference line is key to assure convergence in later optimization. The described data processing is based on track geometry defined by borders only. The specific challenge addressed in the approach was the incorporation of tight, short gates and the low computational effort of the algorithms, enabling fast tuning and adaptation during racing events onsite.
Original languageEnglish
Number of pages6
Publication statusPublished - 8 Jan 2021
Event31st IEEE Intelligent Vehicles Symposium, IV 2020 - Virtual, Las Vegas, United States
Duration: 19 Oct 202013 Nov 2020


Conference31st IEEE Intelligent Vehicles Symposium, IV 2020
Country/TerritoryUnited States
CityVirtual, Las Vegas


  • Autonomous Driving
  • Autonomous vehicles
  • Robust performance
  • autonomous vehicles
  • racing
  • race car
  • robust performance
  • autonomous driving

ASJC Scopus subject areas

  • Computer Science Applications
  • Automotive Engineering
  • Modelling and Simulation


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