打造可量产的自动驾驶赛车系统，实测时速达260公里
From Zero to High-Speed Racing: An Autonomous Racing Stack
- 分三阶段迭代开发模块化赛车系统，支持不同赛道
- 在椭圆与公路赛道实现最高260公里/小时速度
- 开源高速多传感器数据集，适合智能驾驶研究
高速双向自动驾驶竞速面临定位精度、感知速度、动态规划与实时控制等多重技术挑战，且受制于赛道资源有限和硬件成本高昂。本文介绍印第安纳大学吕迪团队为印第安纳自动驾驶挑战赛（IAC）开发的自动驾驶赛车栈（ARS），包含三个版本：ARS1、ARS2 和 ARS3，均在不同赛道上验证，最高时速达260公里/小时。贡献包括：(i) ARS的模块化架构及其演进过程；(ii) 在椭圆赛道与公路赛道环境下对控制、感知与状态估计的详细性能对比；(iii) 发布在椭圆与公路赛道采集的高速多传感器数据集。研究揭示了真实世界全尺寸高速自动驾驶竞速的独特挑战与关键洞察。
原文摘要 · Abstract (English)
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 hardware. This paper introduces the Autonomous Race Stack (ARS), developed by the IU Luddy Autonomous Racing team for the Indy Autonomous Challenge (IAC). We present three iterations of our ARS, each validated on different tracks and achieving speeds up to 260 km/h. Our contributions include: (i) the modular architecture and evolution of the ARS across ARS1, ARS2, and ARS3; (ii) a detailed performance evaluation that contrasts control, perception, and estimation across oval and road-course environments; and (iii) the release of a high-speed, multi-sensor dataset collected from oval and road-course tracks. Our findings highlight the unique challenges and insights from real-world high-speed full-scale autonomous racing.
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