FSDP: Fast and Safe Data-Driven Overtaking Trajectory Planning for Head-to-Head Autonomous Racing Competitions

Abstract

Generating overtaking trajectories in autonomous racing is a challenging task, as the trajectory must satisfy the vehicle's dynamics and ensure safety and real-time performance running on resource-constrained hardware. This work proposes the Fast and Safe Data-Driven Planner to address this challenge. Sparse Gaussian predictions are introduced to improve both the computational efficiency and accuracy of opponent predictions. Furthermore, the proposed approach employs a bi-level quadratic programming framework to generate an overtaking trajectory leveraging the opponent predictions. The first level uses polynomial fitting to generate a rough trajectory, from which reference states and control inputs are derived for the second level. The second level formulates a model predictive control optimization problem in the Frenet frame, generating a trajectory that satisfies both kinematic feasibility and safety. Experimental results on the F1TENTH platform show that our method outperforms the State-of-the-Art, achieving an 8.93% higher overtaking success rate, allowing the maximum opponent speed, ensuring a smoother ego trajectory, and reducing 74.04% computational time compared to the Predictive Spliner method. The code is available at: https://github.com/ZJU-DDRX/FSDP.