The Autonomous Racing Software Stack of the KIT19d

被引：0

作者：

Nekkah, Sherif ^{[1
]}

Janus, Josua ^{[1
]}

Boxheimer, Mario ^{[1
]}

Ohnemus, Lars ^{[1
]}

Hirsch, Stefan ^{[1
]}

Schmidt, Benjamin ^{[1
]}

Liu, Yuchen ^{[1
]}

Borbely, David ^{[1
]}

Keck, Florian ^{[1
]}

Bachmann, Katharina ^{[1
]}

Bleszynski, Lukasz ^{[1
]}

机构：

[1] KA RaceIng eV, Karlsruhe, Germany

来源：

SAE INTERNATIONAL JOURNAL OF CONNECTED AND AUTOMATED VEHICLES | 2022年 / 5卷 / 01期

关键词：

Autonomous racing; Formula Student Driverless; Sensor fusion; State; estimation; Motion planning; DESIGN;

D O I：

10.4271/12-05-01-0007

中图分类号：

U [交通运输];

学科分类号：

08 ; 0823 ;

摘要：

Formula Student Driverless (FSD) challenges engineering students to develop autonomous singleseater race cars in a quest to bring about more graduates who are well prepared to solve the realworld problems associated with autonomous driving. In this article, we present the software stack of KA-RaceIng's entry to the 2019 competitions. We cover the essential modules of the system, including perception, localization, mapping, motion planning, and control. Furthermore, development methods are outlined, and an overview of the system architecture is given. We conclude by presenting selected runtime measurements, data logs, and competition results to provide an insight into the performance of the final prototype.

引用

页码：73 / 86

页数：14

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