Related papers: The Autonomous Racing Software Stack of the KIT19d
The capability to follow a lead-vehicle and avoid rear-end collisions is one of the most important functionalities for human drivers and various Advanced Driver Assist Systems (ADAS). Existing safety performance justification of the…
The self-* properties commonly associated with the concept of autonomic computing are capabilities desirable for avionics software platforms. They decrease the configuration effort and inherently provide new fault tolerance and resource…
This paper explores the concept of creating a "self" for self-driving cars through a homeostatic architecture designed to enhance their autonomy, safety, and efficiency. The proposed system integrates inward focused sensors to monitor the…
Virtual testing of automated driving systems (ADS) has become an essential part of testing procedures for all automation levels. As ADS from automation level 3 and up are very complex, virtual testing for such systems is inevitable. The…
This work introduces interactive traffic scenarios in the CARLA simulator, which are based on real-world traffic. We concentrate on tactical tasks lasting several seconds, which are especially challenging for current control methods. The…
Reinforcement learning has become one of the most trending subjects in the recent decade. It has seen applications in various fields such as robot manipulations, autonomous driving, path planning, computer gaming, etc. We accomplished three…
The engineering community currently encounters significant challenges in the systematic development and validation of autonomy algorithms for off-road ground vehicles. These challenges are posed by unusually high test parameters and…
The University of Toronto is one of eight teams competing in the SAE AutoDrive Challenge -- a competition to develop a self-driving car by 2020. After placing first at the Year 1 challenge, we are headed to MCity in June 2019 for the second…
Despite extensive research, the testing of autonomous driving systems (ADS) landscape remains fragmented, and there is currently no basis for an informed technical assessment of the importance and contribution of the current state of the…
Although Cooperative Driving Automation (CDA) has attracted considerable attention in recent years, there remain numerous open challenges in this field. The gap between existing simulation platforms that mainly concentrate on single-vehicle…
Robotics is the next frontier in the progress of Artificial Intelligence (AI), as the real world in which robots operate represents an enormous, complex, continuous state space with inherent real-time requirements. One extreme challenge in…
The field of high-speed autonomous racing has seen significant advances in recent years, with the rise of competitions such as RoboRace and the Indy Autonomous Challenge providing a platform for researchers to develop software stacks for…
Despite the rapid improvement of autonomous driving technology in recent years, automotive manufacturers must resolve liability issues to commercialize autonomous passenger car of SAE J3016 Level 3 or higher. To cope with the product…
This paper presents a state-of-the-art Data Acquisition System designed for off-road conditions, deployed on a Team Corally Kagama 1/8 Remote Controlled Vehicle. The system is intended to support Advanced Driver Assistance Systems in an…
In this tutorial, we detailed simple controllers for autonomous parking and path following for self-driving cars providing practical methods for curvature computation.
Autonomous racing represents a uniquely challenging control environment where agents must act while on the limits of a vehicle's capability in order to set competitive lap times. This places the agent on a knife's edge, with a very small…
The last decade witnessed increasingly rapid progress in self-driving vehicle technology, mainly backed up by advances in the area of deep learning and artificial intelligence. The objective of this paper is to survey the current…
When designing autonomous systems, we need to consider multiple trade-offs at various abstraction levels, and the choices of single (hardware and software) components need to be studied jointly. In this work we consider the problem of…
The F1TENTH autonomous driving platform, consisting of 1:10-scale remote-controlled cars, has evolved into a well-established education and research platform. The many publications and real-world competitions span many domains, from…
Autonomous driving techniques have been flourishing in recent years while thirsting for huge amounts of high-quality data. However, it is difficult for real-world datasets to keep up with the pace of changing requirements due to their…