er.autopilot 1.0: 高速オーバルレースのための完全自律走行スタック
er.autopilot 1.0: The Full Autonomous Stack for Oval Racing at High Speeds
インディ自律走行チャレンジ向けに、知覚・計画・制御に加え車両動力学モデルや安全機構まで含む完全な自動運転ソフトウェアを構築し、270km/h超の高速オーバルレースで競争した。
著者: Ayoub Raji, Danilo Caporale, Francesco Gatti, Andrea Giove, Micaela Verucchi, Davide Malatesta, Nicola Musiu, Alessandro Toschi, Silviu Roberto Popitanu, Fabio Bagni, Massimiliano Bosi, Alexander Liniger, Marko Bertogna, Daniele Morra, Francesco Amerotti, Luca Bartoli, Federico Martello, Riccardo Porta
分類: cs.RO, cs.AI, cs.CV, cs.SY, eess.SY
原文アブストラクト
The Indy Autonomous Challenge (IAC) brought together for the first time in history nine autonomous racing teams competing at unprecedented speed and in head-to-head scenario, using independently developed software on open-wheel racecars. This paper presents the complete software architecture used by team TII EuroRacing (TII-ER), covering all the modules needed to avoid static obstacles, perform active overtakes and reach speeds above 75 m/s (270 km/h). In addition to the most common modules related to perception, planning, and control, we discuss the approaches used for vehicle dynamics modelling, simulation, telemetry, and safety. Overall results and the performance of each module are described, as well as the lessons learned during the first two events of the competition on oval tracks, where the team placed respectively second and third.
