BME车队自研软件栈，助力实现全尺寸自动驾驶赛车。
The Autonomous Software Stack of the FRED-003C: The Development That Led to Full-Scale Autonomous Racing
- 构建端到端自动驾驶软件流水线，覆盖感知、定位、规划与控制。
- 在阿布扎比自动驾驶赛车联赛中成功应用并取得优异表现。
- 开源方案适合高校学生参与无人驾驶竞赛的实践参考。
科学研究常由大学生在高校项目中推进。在自动驾驶软件研究领域，公式赛车无人驾驶竞赛是推动科研、吸引青年工程师的优秀平台。本文介绍了布达佩斯科技经济大学（BME）Formula Racing团队开发的软件栈，该系统成为我们实现全尺寸自动驾驶赛车的关键基础。我们在实践中积累的经验显著提升了在阿布扎比自动驾驶赛车联盟（ADRL）中的参赛表现。因此我们认为有必要公开所用系统，为其他有志于自动驾驶的学生提供有价值的起点。文中详细描述了我们的软件流水线，包括软硬件架构概要，并介绍了感知、定位与建图、路径规划及控制模块的核心方法。
原文摘要 · Abstract (English)
Scientific development often takes place in the context of research projects carried out by dedicated students during their time at university. In the field of self-driving software research, the Formula Student Driverless competitions are an excellent platform to promote research and attract young engineers. This article presents the software stack developed by BME Formula Racing Team, that formed the foundation of the development that ultimately led us to full-scale autonomous racing. The experience we gained here contributes greatly to our successful participation in the Abu Dhabi Autonomous Racing League. We therefore think it is important to share the system we used, providing a valuable starting point for other ambitious students. We provide a detailed description of the software pipeline we used, including a brief description of the hardware-software architecture. Furthermore, we introduce the methods that we developed for the modules that implement perception; localisation and mapping, planning, and control tasks.
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