6ヶ月で優勝する自動運転車の構築
Building a Winning Self-Driving Car in Six Months
SAE AutoDrive Challengeで優勝したチームが、事前地図に頼らずCPUのみでリアルタイム動作するマルチセンサ視覚自己位置推定とシンプルで堅牢なアルゴリズムによる自動運転システムを6ヶ月で開発したことを報告する論文。
著者: Keenan Burnett, Andreas Schimpe, Sepehr Samavi, Mona Gridseth, Chengzhi Winston Liu, Qiyang Li, Zachary Kroeze, Angela P. Schoellig
分類: cs.RO
原文アブストラクト
The SAE AutoDrive Challenge is a three-year competition to develop a Level 4 autonomous vehicle by 2020. The first set of challenges were held in April of 2018 in Yuma, Arizona. Our team (aUToronto/Zeus) placed first. In this paper, we describe our complete system architecture and specialized algorithms that enabled us to win. We show that it is possible to develop a vehicle with basic autonomy features in just six months relying on simple, robust algorithms. We do not make use of a prior map. Instead, we have developed a multi-sensor visual localization solution. All of our algorithms run in real-time using CPUs only. We also highlight the closed-loop performance of our system in detail in several experiments.
