Optimal Racing Line · minimum-lap-time optimal control

I don't drive the car. I give a solver the track and the tyre-grip limit, and it computes the fastest way round. It is a free-final-time optimal-control problem, transcribed by direct collocation into a nonlinear program with analytic Jacobians. The racing line below is the solver's output.

lap time

0.00 / -- s

speed

0 km/h

total g

0.0

lateral g

0.0

long. g

0.0

speed

g-g diagram: the car rides the grip limit

Checked against references: corner physics (v=√(μgR)), RK4 4th-order, friction-circle saturation, mesh convergence, and analytic Jacobians vs finite differences to 1e-6. Point-mass model on a friction circle (a deliberate baseline).