Autonomous Vehicles on the Edge: A Survey on Autonomous Vehicle Racing
Autonomous Vehicles on the Edge: A Survey on Autonomous Vehicle Racing
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DOI：
10.1109/ojits.2022.3181510
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发表时间：
2022-02
影响因子：
2.6
通讯作者：
Johannes Betz;Hongrui Zheng;Alexander Liniger;Ugo Rosolia;Phillip Karle;Madhur Behl;V. Krovi;Rahul Mangharam
中科院分区：
文献类型：
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作者：
Johannes Betz;Hongrui Zheng;Alexander Liniger;Ugo Rosolia;Phillip Karle;Madhur Behl;V. Krovi;Rahul Mangharam
自动驾驶汽车日益普及，近年来催生了一个新的研究领域：自动驾驶赛车。研究人员正在为高性能赛车开发软件和硬件，其目标是在车辆极限边缘实现自动驾驶：高速、高加速度、低反应时间、高度不确定、动态以及对抗性环境。本文是第一篇涵盖自动驾驶赛车领域研究的全面综述。我们仅关注自动驾驶赛车领域，并展示在感知、规划、控制以及端到端学习等方面所使用的算法、方法和途径。此外，随着自动驾驶赛车比赛数量的增加，研究人员现在能够使用高性能平台来测试和评估他们的自动驾驶算法。本综述全面概述了当前的自动驾驶赛车平台，强调了到现阶段的软硬件协同进化。最后，基于与该领域领先研究人员的进一步讨论，我们总结了开放的研究挑战，这将为该领域未来的研究人员提供指导。
The rising popularity of self-driving cars has led to the emergence of a new research field in recent years: Autonomous racing. Researchers are developing software and hardware for high-performance race vehicles which aim to operate autonomously on the edge of the vehicle’s limits: High speeds, high accelerations, low reaction times, highly uncertain, dynamic, and adversarial environments. This paper represents the first holistic survey that covers the research in the field of autonomous racing. We focus on the field of autonomous racecars only and display the algorithms, methods, and approaches used in the areas of perception, planning, control, and end-to-end learning. Further, with an increasing number of autonomous racing competitions, researchers now have access to high-performance platforms to test and evaluate their autonomy algorithms. This survey presents a comprehensive overview of the current autonomous racing platforms, emphasizing the software-hardware co-evolution to the current stage. Finally, based on additional discussion with leading researchers in the field, we conclude with a summary of open research challenges that will guide future researchers in this field.