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Autonomous Formula Racecar: Overall System Design and Experimental Validation

2020-09-01 12:34:00
Hanqing Tian, Jun Ni, Zirui Li, Jibin Hu

Abstract

This paper develops and summarizes the work of building the autonomous integrated system including perception system and vehicle dynamic controller for a formula student autonomous racecar. We propose a system framework combining X-by-wired modification, perception & motion planning and vehicle dynamic control as a template of FSAC racecar which can be easily replicated. A LIDAR-vision cooperating method of detecting traffic cone which is used as track mark is proposed. Detection algorithm of the racecar also implements a precise and high rate localization method which combines the GPS-INS data and LIDAR odometry. Besides, a track map including the location and color information of the cones is built simultaneously. Finally, the system and vehicle performance on a closed loop track is tested. This paper also briefly introduces the Formula Student Autonomous Competition (FSAC).

Abstract (translated)

URL

https://arxiv.org/abs/2009.00385

PDF

https://arxiv.org/pdf/2009.00385.pdf


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