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In this paper, we present a novel formulation to model the effects of alocked differential on the lateral dynamics of an autonomous open-wheelracecar. The model is used in a Model Predictive Controller in which weincluded a micro-steps discretization approach to accurately linearize thedynamics and produce a prediction suitable for real-time implementation. Thestability analysis of the model is presented, as well as a brief description ofthe overall planning and control scheme which includes an offline trajectorygeneration pipeline, an online local speed profile planner, and a low-levellongitudinal controller. An improvement of the lateral path tracking isdemonstrated in preliminary experimental results that have been produced on aDallara AV-21 during the first Indy Autonomous Challenge event on the Monza F1racetrack. Final adjustments and tuning have been performed in a high-fidelitysimulator demonstrating the effectiveness of the solution when performing closeto the tire limits.

A Tricycle Model to Accurately Control an Autonomous Racecar with Locked Differential