限界走行に挑む自動運転：自動運転レースのサーベイ
Autonomous Vehicles on the Edge: A Survey on Autonomous Vehicle Racing
自動運転レース分野の知覚・計画・制御・end-to-end学習の手法とプラットフォームを初めて包括的に整理し、今後の課題をまとめたサーベイ。
著者: Johannes Betz, Hongrui Zheng, Alexander Liniger, Ugo Rosolia, Phillip Karle, Madhur Behl, Venkat Krovi, Rahul Mangharam
分類: cs.RO, cs.SE
原文アブストラクト
The rising popularity of self-driving cars has led to the emergence of a new research field in the 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 vehicles 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 that are used in the fields of perception, planning and control as well as end-to-end learning. Further, with an increasing number of autonomous racing competitions, researchers now have access to a range of high performance platforms to test and evaluate their autonomy algorithms. This survey presents a comprehensive overview of the current autonomous racing platforms emphasizing both 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.
