  Driving on the limits of vehicle dynamics requires predictive planning of
future vehicle states. In this work, a search-based motion planning is used to
generate suitable reference trajectories of dynamic vehicle states with the
goal to achieve the minimum lap time on slippery roads. The search-based
approach enables to explicitly consider a nonlinear vehicle dynamics model as
well as constraints on states and inputs so that even challenging scenarios can
be achieved in a safe and optimal way. The algorithm performance is evaluated
in simulated driving on a track with segments of different curvatures.
