AMZ Driverless: The Full Autonomous Racing System

Juraj Kabzan, Miguel de la Iglesia Valls, Victor Reijgwart, Hubertus Franciscus Cornelis Hendrikx, Claas Ehmke +17 more
5/13/2019
cs.RO

Official code: AMZ-Racing/fssim (276 stars, MIT, last commit 2021-11-29).

Abstract

This paper presents the algorithms and system architecture of an autonomous racecar. The introduced vehicle is powered by a software stack designed for robustness, reliability, and extensibility. In order to autonomously race around a previously unknown track, the proposed solution combines state of the art techniques from different fields of robotics. Specifically, perception, estimation, and control are incorporated into one high-performance autonomous racecar. This complex robotic system, developed by AMZ Driverless and ETH Zurich, finished 1st overall at each competition we attended: Formula Student Germany 2017, Formula Student Italy 2018 and Formula Student Germany 2018. We discuss the findings and learnings from these competitions and present an experimental evaluation of each module of our solution.

View on arXivView PDF

Code Implementations(1)

AMZ-Racing/fssimOfficial100%
MIT

Formula Student Simulator dedicated for FSD competition

27682C++, CMakeJan 27, 20194 years agoMIT

Similar Papers

LiDAR-Based Vehicle Detection and Tracking for Autonomous Racing

88% match2025

Fast and Modular Autonomy Software for Autonomous Racing Vehicles

87% match2024

Racing Towards Reinforcement Learning based control of an Autonomous Formula SAE Car

87% match2023

er.autopilot 1.0: The Full Autonomous Stack for Oval Racing at High Speeds

86% match2023

Racing With ROS 2 A Navigation System for an Autonomous Formula Student Race Car

85% match1 repo142023

Optimization-Based Autonomous Racing of 1:43 Scale RC Cars

84% match1 repo1.9k2017

Cite this paper

@article{kabzan2019driverless,
  title  = {AMZ Driverless: The Full Autonomous Racing System},
  author = {Juraj Kabzan and Miguel de la Iglesia Valls and Victor Reijgwart and Hubertus Franciscus Cornelis Hendrikx and Claas Ehmke and Manish Prajapat and Andreas Bühler and Nikhil Gosala and Mehak Gupta and Ramya Sivanesan and Ankit Dhall and Eugenio Chisari and Napat Karnchanachari and Sonja Brits and Manuel Dangel and Inkyu Sa and Renaud Dubé and Abel Gawel and Mark Pfeiffer and Alexander Liniger and John Lygeros and Roland Siegwart},
  year   = {2019},
  eprint = {1905.05150},
  archivePrefix = {arXiv},
  url    = {https://arxiv.org/abs/1905.05150}
}

Add a badge to your README

Shows whether official code is linked for this paper.

Code of Paper badge
[![Code of Paper](https://codeofpaper.com/badge/1905.05150.svg)](https://codeofpaper.com/paper/1905.05150)

Discussion