An Autonomous System for Head-to-Head Race: Design, Implementation and Analysis; Team KAIST at the Indy Autonomous Challenge
An Autonomous System for Head-to-Head Race: Design, Implementation and Analysis; Team KAIST at the Indy Autonomous Challenge
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一对一竞赛的自主系统：设计、实现和分析；
DOI：
10.48550/arxiv.2303.09463
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发表时间：
2023
期刊：
影响因子：
--
通讯作者：
D. Shim
中科院分区：
文献类型：
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作者：
Chanyoung Jung;Andrea Finazzi;Hyunki Seong;Daegyu Lee;Seungwook Lee;Bosung Kim;Gyuri Gang;Seung;D. Shim
虽然大多数自动驾驶研究都集中在日常驾驶场景上，但自动驾驶汽车的进一步安全和性能改进需要关注极端驾驶条件。在这种情况下，自动驾驶赛车是一个新的研究领域，最近引起了相当大的兴趣。由于车辆在比赛期间由其感知、规划和控制极限驱动，因此出现了许多研究和开发问题。本文全面概述了KAIST团队为Indy Autonomous Challenge（IAC）构建的自动赛车系统。我们的自主堆栈主要由多模态感知模块、高速超车规划器、弹性控制堆栈和系统状态管理器组成。我们将详细介绍自治解决方案的所有组件，包括算法、实现和单元测试结果。此外，本文还概述了设计原则和系统分析的结果。尽管我们的设计原则源自自主赛车的独特应用领域，但它们也可以应用于各种安全关键型、高故障成本的机器人应用。该系统已被集成到一辆全尺寸自动驾驶赛车（Dallara AV-21）中，并进行了广泛的现场测试。因此，KAIST队是三支获得资格并参加IAC正式比赛的球队之一，没有发生任何事故。我们提出的自动驾驶系统成功完成了所有任务，包括在IAC@CES 2022中以约220公里/小时的速度超车，这是世界上第一个1：1的自动驾驶比赛。
While the majority of autonomous driving research has concentrated on everyday driving scenarios, further safety and performance improvements of autonomous vehicles require a focus on extreme driving conditions. In this context, autonomous racing is a new area of research that has been attracting considerable interest recently. Due to the fact that a vehicle is driven by its perception, planning, and control limits during racing, numerous research and development issues arise. This paper provides a comprehensive overview of the autonomous racing system built by team KAIST for the Indy Autonomous Challenge (IAC). Our autonomy stack consists primarily of a multi-modal perception module, a high-speed overtaking planner, a resilient control stack, and a system status manager. We present the details of all components of our autonomy solution, including algorithms, implementation, and unit test results. In addition, this paper outlines the design principles and the results of a systematical analysis. Even though our design principles are derived from the unique application domain of autonomous racing, they can also be applied to a variety of safety-critical, high-cost-of-failure robotics applications. The proposed system was integrated into a full-scale autonomous race car (Dallara AV-21) and field-tested extensively. As a result, team KAIST was one of three teams who qualified and participated in the official IAC race events without any accidents. Our proposed autonomous system successfully completed all missions, including overtaking at speeds of around $220 km/h$ in the IAC@CES2022, the world's first autonomous 1:1 head-to-head race.
DOI：
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发表时间：
2019
期刊：
--
影响因子：
--
作者：
Matthew O'Kelly;Hongrui Zheng;D. Karthik;Rahul Mangharam
通讯作者：
Matthew O'Kelly;Hongrui Zheng;D. Karthik;Rahul Mangharam
DOI：
10.1109/ojits.2022.3181510
发表时间：
2022-02
影响因子：
2.6
作者：
Johannes Betz;Hongrui Zheng;Alexander Liniger;Ugo Rosolia;Phillip Karle;Madhur Behl;V. Krovi;Rahul Mangharam
通讯作者：
Johannes Betz;Hongrui Zheng;Alexander Liniger;Ugo Rosolia;Phillip Karle;Madhur Behl;V. Krovi;Rahul Mangharam