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Autonomous Vehicles on the Edge: A Survey on Autonomous Vehicle Racing

Betz, Johannes and Zheng, Hongrui and Liniger, Alexander and Rosolia, Ugo and Karle, Phillip and Behl, Madhur and Krovi, Venkat and Mangharam, Rahul (2022) Autonomous Vehicles on the Edge: A Survey on Autonomous Vehicle Racing. IEEE Open Journal of Intelligent Transportation Systems, 3 . pp. 458-488. ISSN 2687-7813. doi:10.1109/ojits.2022.3181510. https://resolver.caltech.edu/CaltechAUTHORS:20220614-222247000

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Abstract

The rising popularity of self-driving cars has led to the emergence of a new research field in recent years: Autonomous racing. Researchers are developing software and hardware for high-performance race vehicles which aim to operate autonomously on the edge of the vehicle’s limits: High speeds, high accelerations, low reaction times, highly uncertain, dynamic, and adversarial environments. This paper represents the first holistic survey that covers the research in the field of autonomous racing. We focus on the field of autonomous racecars only and display the algorithms, methods, and approaches used in the areas of perception, planning, control, and end-to-end learning. Further, with an increasing number of autonomous racing competitions, researchers now have access to high-performance platforms to test and evaluate their autonomy algorithms. This survey presents a comprehensive overview of the current autonomous racing platforms, emphasizing the software-hardware co-evolution to the current stage. Finally, based on additional discussion with leading researchers in the field, we conclude with a summary of open research challenges that will guide future researchers in this field.


Item Type:Article
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/OJITS.2022.3181510DOIArticle
https://arxiv.org/abs/2202.07008arXivDiscussion Paper
ORCID:
AuthorORCID
Betz, Johannes0000-0001-9197-2849
Liniger, Alexander0000-0002-7858-7900
Rosolia, Ugo0000-0002-1682-0551
Karle, Phillip0000-0003-3223-6969
Krovi, Venkat0000-0003-2539-896X
Additional Information:This work is licensed under a Creative Commons Attribution 4.0 License. Johannes Betz initiated the idea of this paper, created the overall structure and contributed to all sections of this survey paper. Hongrui Zheng contributed to the path planning section. Alex Liniger and Ugo Rosolia contributed to the path planning and control section. Phillip Karle contributed to the path planning section and open research challenges. Madhur Behl and Venkat Krovi revised the paper critically. Rahul Mangharam contributed to the overall structure of the paper, the open research challenges and revised the paper critically. The authors would like to thank Todd Murphy (Northwestern University), Davide Scaramuzza (University of Zurich), Chris Gerdes (Stanford University), Markus Lienkamp (Technical University of Munich), Panagiotis Tsiotras (Georgia Institute of Technology) and Sertac Karaman (Massachusetts Institute of Technology) for their talks at 2021 IEEE ICRA 1st Workshop “Opportunities and Challenges with Autonomous Racing.”8 which contributed to the creation of Section V in this survey paper.
Funders:
Funding AgencyGrant Number
NSFCNS-1925587
Department of TransportationUNSPECIFIED
Subject Keywords:Autonomous systems, autonomous vehicles, intelligent vehicles, advanced driver assistance, simultaneous localization and mapping, path planning, control
DOI:10.1109/ojits.2022.3181510
Record Number:CaltechAUTHORS:20220614-222247000
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20220614-222247000
Official Citation:J. Betz et al., "Autonomous Vehicles on the Edge: A Survey on Autonomous Vehicle Racing," in IEEE Open Journal of Intelligent Transportation Systems, vol. 3, pp. 458-488, 2022, doi: 10.1109/OJITS.2022.3181510
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:115150
Collection:CaltechAUTHORS
Deposited By: George Porter
Deposited On:14 Jun 2022 20:53
Last Modified:15 Jul 2022 19:40

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