Introduction

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embes (embedded energy strategy) is a repository containing an algorithm to calculate an energy strategy for an all-electric race car. The algorithm is based on the acados modeling language and interfaces HPIPM to solve the internal Quadratic Problems. The package was developed by and to power the race vehicle of the Technical University of Munich in the Roborace competition.

If you directly want to dive into the functionality behind this algorithm, check out the section Functionality.

The algorithm takes into account the constraining equations describing

  • the driving dynamics,

  • the thermodynamics,

  • the battery SOC.

It minimizes the race time, i.e., it solves a Minimum Race Time Problem (MRTP), for a given number of laps. For mathematical details, see Problem formulation.

For a quick start, check out the Installation and the How to use-section in this manual.