论文标题
KIT19D的自主赛车软件堆栈
The Autonomous Racing Software Stack of the KIT19d
论文作者
论文摘要
Formula学生无人驾驶的挑战使工程学生开发自动驾驶单座赛车，以寻求更多的毕业生，这些毕业生有充分的准备，以解决与自动驾驶相关的现实世界问题。在本文中，我们介绍了KA-Raceing参加2019年比赛的软件堆栈。我们涵盖了系统的基本模块，包括感知，本地化，映射，运动计划和控制。此外，概述了开发方法，并给出了系统体系结构的概述。我们通过介绍选定的运行时测量，数据日志和竞争结果来结束，以洞悉最终原型的性能。
Formula Student Driverless challenges engineering students to develop autonomous single-seater race cars in a quest to bring about more graduates who are well-prepared to solve the real world problems associated with autonomous driving. In this paper, 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.
