Zeus: 自動運転競技AutoDriveで2連覇を達成したシステムの解説
Zeus: A System Description of the Two-Time Winner of the Collegiate SAE AutoDrive Competition
学生チームaUTorontoが開発した自動運転車Zeusのシステム構成（センサ群・ソフトウェア・チーム運営）と、交差点・歩行者・信号対応を競うSAE AutoDrive Challenge第2年での優勝内容をまとめた論文。
著者: Keenan Burnett, Jingxing Qian, Xintong Du, Linqiao Liu, David J. Yoon, Tianchang Shen, Susan Sun, Sepehr Samavi, Michael J. Sorocky, Mollie Bianchi, Kaicheng Zhang, Arkady Arkhangorodsky, Quinlan Sykora, Shichen Lu, Yizhou Huang, Angela P. Schoellig, Timothy D. Barfoot
分類: cs.RO
原文アブストラクト
The SAE AutoDrive Challenge is a three-year collegiate competition to develop a self-driving car by 2020. The second year of the competition was held in June 2019 at MCity, a mock town built for self-driving car testing at the University of Michigan. Teams were required to autonomously navigate a series of intersections while handling pedestrians, traffic lights, and traffic signs. Zeus is aUToronto's winning entry in the AutoDrive Challenge. This article describes the system design and development of Zeus as well as many of the lessons learned along the way. This includes details on the team's organizational structure, sensor suite, software components, and performance at the Year 2 competition. With a team of mostly undergraduates and minimal resources, aUToronto has made progress towards a functioning self-driving vehicle, in just two years. This article may prove valuable to researchers looking to develop their own self-driving platform.
