• motion planning
• motion forecasting
• vehicle
• racing
• forecasting
• planning
• autonomous

This work illustrates the motion planning and forecasting modules of er.autopilot, the autonomous software stack develop by the TII Euroracing team for the Dallara AV21, a fully autonomous racing car that has taken part in the competitions of the Indy Autonomous Challenge. A motion forecasting algorithm based on the Kalman filter has been used to predict the future trajectories of the opponents’ car. The role of the motion planning module is to generate a trajectory that avoids the surrounding obstacles. To do it, an approach working in a Frenét frame has been used. The software stack has been tested at the Indianapolis Motor Speedway and at the Las Vegas Motor Speedway, where the car participated in an overtaking competition. The motion planning modules, in conjunction with all the other modules of the stack, has been capable of generating safe and smooth overtaking trajectories reaching a speed of 60 m/s (∼ 215 kph).