ABSTRACT
The heat vision system is based upon the heat map idea used in real-time strategy games. It consists of a one-dimensional “heat line” which spans the width of the track at the car’s position. “Heat” is then added to (or removed from) the heat line based upon the position of the racing line, the vehicle’s current position, other vehicles, etc. Once all the vehicles have written into the heat line, the vehicle is then directed to move from its current position to a position with lower heat. In this way, the vehicle will find the optimal track position based upon its current circumstances in relation to the other vehicles on track. The heat line is stored in a one-dimensional fixed sized array of floats that is scaled to the width of the track at the vehicle’s position.
