相关论文: Competitive Driving of Autonomous Vehicles

This article introduces the hardware-software co-design of the control system for an autonomy-enabled formula-style high-speed racecar that will be utilized as the deployment platform for high-level autonomy in the first ever head-to-head…

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.…

While the majority of autonomous driving research has concentrated on everyday driving scenarios, further safety and performance improvements of autonomous vehicles require a focus on extreme driving conditions. In this context, autonomous…

Autonomous motorsports aim to replicate the human racecar driver with software and sensors. As in traditional motorsports, Autonomous Racing Vehicles (ARVs) are pushed to their handling limits in multi-agent scenarios at extremely high…

For decades, motorsport has been an incubator for innovations in the automotive sector and brought forth systems like disk brakes or rearview mirrors. Autonomous racing series such as Roborace, F1Tenth, or the Indy Autonomous Challenge…

This paper describes a resilient navigation and planning system used in the Indy Autonomous Challenge (IAC) competition. The IAC is a competition where full-scale race cars run autonomously on Indianapolis Motor Speedway(IMS) up to 290 km/h…

High-speed, head-to-head autonomous racing presents substantial technical and logistical challenges, including precise localization, rapid perception, dynamic planning, and real-time control-compounded by limited track access and costly…

Autonomous racing presents a complex challenge involving multi-agent interactions between vehicles operating at the limit of performance and dynamics. As such, it provides a valuable research and testing environment for advancing autonomous…

In the landscape of technological innovation, autonomous racing is a dynamic and challenging domain that not only pushes the limits of technology, but also plays a crucial role in advancing and fostering a greater acceptance of autonomous…

Resolving edge-cases in autonomous driving, head-to-head autonomous racing is getting a lot of attention from the industry and academia. In this study, we propose a game-theoretic model predictive control (MPC) approach for head-to-head…

Motorsport has always been an enabler for technological advancement, and the same applies to the autonomous driving industry. The team TUM Auton-omous Motorsports will participate in the Indy Autonomous Challenge in Octo-ber 2021 to…

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…

This paper presents a novel planning and control strategy for competing with multiple vehicles in a car racing scenario. The proposed racing strategy switches between two modes. When there are no surrounding vehicles, a learning-based model…

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…

Autonomous car racing is a challenging task, as it requires precise applications of control while the vehicle is operating at cornering speeds. Traditional autonomous pipelines require accurate pre-mapping, localization, and planning which…

Autonomous racing demands safe control of vehicles at their physical limits for extended periods of time, providing insights into advanced vehicle safety systems which increasingly rely on intervention provided by vehicle autonomy.…

In this work, we present a rigorous end-to-end control strategy for autonomous vehicles aimed at minimizing lap times in a time attack racing event. We also introduce AutoRACE Simulator developed as a part of this research project, which…

This paper describes the first open dataset for full-scale and high-speed autonomous racing. Multi-modal sensor data has been collected from fully autonomous Indy race cars operating at speeds of up to 170 mph (273 kph). Six teams who raced…

Autonomous racing has attracted significant attention recently, presenting challenges in selecting an optimal controller that operates within the onboard system's computational limits and meets operational constraints such as limited track…

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…