A static grid of local grip-scaling factors in Frenet coordinates, with constant-time lookup, integrates into offline and online race planners and improves lap times by 5.2% while preventing grip-overestimation crashes.
The grip of motorsport surfaces,
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GripMap: An Efficient, Spatially Resolved Constraint Framework for Offline and Online Trajectory Planning in Autonomous Racing
A static grid of local grip-scaling factors in Frenet coordinates, with constant-time lookup, integrates into offline and online race planners and improves lap times by 5.2% while preventing grip-overestimation crashes.