仅用11小时实战训练，实现206公里时速的自动驾驶赛车系统。
Minimalistic Autonomous Stack for High-Speed Time-Trial Racing
- 构建极简自动驾驶赛车系统，减少对赛道测试依赖。
- 实测达206公里/小时，11小时练习完成325公里里程。
- 适合资源有限却需快速部署的自动驾驶赛车团队。
自动驾驶赛车近年来因印第安纳波利斯自动驾驶挑战赛（IAC）和阿布扎比自动驾驶赛车联盟（A2RL）等赛事取得显著进展。然而，全尺寸车辆的自主驾驶系统开发常受限于专用赛道获取困难，影响真实场景验证。以往工作通常需要长时间开发与大量赛道测试，本文提出一种面向高速计时赛的极简自动驾驶赛车系统，强调快速部署与高效集成，极大减少实地测试需求。该系统在真实赛道上验证，仅用11小时练习即达到206公里/小时最高速度，总行驶里程达325公里。同时，论文分析了系统追踪精度、车辆动力学表现及安全因素，为资源受限但需快速开发部署的团队提供实用参考。
原文摘要 · Abstract (English)
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.
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