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The Autonomous Racing Software Stack of the KIT19d

Journal Article
12-05-01-0007
ISSN: 2574-0741, e-ISSN: 2574-075X
Published January 06, 2022 by SAE International in United States
The Autonomous Racing Software Stack of the KIT19d
Sector:
Citation: Nekkah, S., Janus, J., Boxheimer, M., Ohnemus, L. et al., "The Autonomous Racing Software Stack of the KIT19d," SAE Intl. J CAV 5(1):73-86, 2022, https://doi.org/10.4271/12-05-01-0007.
Language: English

Abstract:

Formula Student Driverless (FSD) 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 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.