自動運転レーシングスタックのための高速で現実的な自動シナリオシミュレーションとレポート
Fast and Realistic Automated Scenario Simulations and Reporting for an Autonomous Racing Stack
自動運転レーシングスタック向けに、高忠実度車両モデルとFMUを基盤とし、リアルタイムの最大3倍速で動作する自動シミュレーション・レポートパイプラインを構築した。シナリオ初期化や故障注入機能を備え、CI/CDでの検証を可能にする。
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: Giovanni Lambertini, Matteo Pini, Eugenio Mascaro, Francesco Moretti, Ayoub Raji, Marko Bertogna
分類: cs.RO, cs.AI, cs.SE, cs.SY, eess.SY
原文アブストラクト
In this paper, we describe the automated simulation and reporting pipeline implemented for our autonomous racing stack, ur.autopilot. The backbone of the simulation is based on a high-fidelity model of the vehicle interfaced as a Functional Mockup Unit (FMU). The pipeline can execute the software stack and the simulation up to three times faster than real-time, locally or on GitHub for Continuous Integration/- Continuous Delivery (CI/CD). As the most important input of the pipeline, there is a set of running scenarios. Each scenario allows the initialization of the ego vehicle in different initial conditions (position and speed), as well as the initialization of any other configuration of the stack. This functionality is essential to validate efficiently critical modules, like the one responsible for high-speed overtaking maneuvers or localization, which are among the most challenging aspects of autonomous racing. Moreover, we describe how we implemented a fault injection module, capable of introducing sensor delays and perturbations as well as modifying outputs of any node of the stack. Finally, we describe the design of our automated reporting process, aimed at maximizing the effectiveness of the simulation analysis.
