高速タイムトライアル競技向けのミニマル自律走行スタック
Minimalistic Autonomous Stack for High-Speed Time-Trial Racing
限られた走行機会でも迅速に展開できる最小構成の自動運転レーシングスタックを開発し、実車で最高速度206km/hを達成した。
詳しい要約
1. どんなもの？
2. 先行研究と比べてどこがすごい？
3. 技術・手法の肝は？
4. どうやって有効だと検証した？
5. 議論はある？
6. 次に読むべき論文は？
※ AIが要旨から生成した要約です。正確性は原文をご確認ください。
著者: Mahmoud Ali, Hassan Jardali, Youwei Yu, Durgakant Pushp, Lantao Liu
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
Autonomous racing has seen significant advancements, driven by competitions such as the Indy Autonomous Challenge (IAC) and the Abu Dhabi Autonomous Racing League (A2RL). However, developing an autonomous racing stack for a full-scale car is often constrained by limited access to dedicated test tracks, restricting opportunities for real-world validation. While previous work typically requires extended development cycles and significant track time, this paper introduces a minimalistic autonomous racing stack for high-speed time-trial racing that emphasizes rapid deployment and efficient system integration with minimal on-track testing. The proposed stack was validated on real speedways, achieving a top speed of 206 km/h within just 11 hours' practice run on the track with 325 km in total. Additionally, we present the system performance analysis, including tracking accuracy, vehicle dynamics, and safety considerations, offering insights for teams seeking to rapidly develop and deploy an autonomous racing stack with limited track access.
