التفاصيل البيبلوغرافية
| العنوان: |
Competitive Driving of Autonomous Vehicles |
| المؤلفون: |
Gabriel Hartmann, Zvi Shiller, Amos Azaria |
| المصدر: |
IEEE Access, Vol 10, Pp 111772-111783 (2022) |
| بيانات النشر: |
IEEE, 2022. |
| سنة النشر: |
2022 |
| المجموعة: |
LCC:Electrical engineering. Electronics. Nuclear engineering |
| مصطلحات موضوعية: |
Autonomous vehicles, collision avoidance, motion planning, multi-robot systems, Electrical engineering. Electronics. Nuclear engineering, TK1-9971 |
| الوصف: |
This paper addresses the issue of autonomous competitive yet safe driving in the context of the Indy Autonomous Challenge (IAC) simulation race. The IAC is the first multi-vehicle autonomous head-to-head competition, reaching speeds of 300 km/h along an oval track modeled after the Indianapolis Motor Speedway (IMS). We present a racing controller that attempts to maximize progress along the track while avoiding collisions with opponent vehicles and obeying the race rules. To this end, the racing controller first computes a race line offline. During the race, it repeatedly computes a small set of dynamically feasible maneuver candidates, each tested for collision with the opponent vehicles. It then selects a collision-free maneuver that maximizes the progress along the track and obeys the race rules. Our controller was tested in a 6-vehicle simulation, managing to run competitively with no collision over 30 laps. In addition, it managed to drive within a close range of the leading vehicle during most of the IAC final simulation race. |
| نوع الوثيقة: |
article |
| وصف الملف: |
electronic resource |
| اللغة: |
English |
| تدمد: |
2169-3536 |
| Relation: |
https://ieeexplore.ieee.org/document/9925232/; https://doaj.org/toc/2169-3536 |
| DOI: |
10.1109/ACCESS.2022.3215984 |
| URL الوصول: |
https://doaj.org/article/dff955bc2d9c466b8edf3204f1822db6 |
| رقم الانضمام: |
edsdoj.ff955bc2d9c466b8edf3204f1822db6 |
| قاعدة البيانات: |
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