The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Implementation of an Autonomous Driving System for the Segye AI Robot Car Race Competition

세계 AI 로봇 카레이스 대회를 위한 자율 주행 시스템 구현

  • Choi, Jung Hyun (Department of Mechanical and Information Engineering, University of Seoul) ;
  • Lim, Ye Eun (Department of Mechanical and Information Engineering, University of Seoul) ;
  • Park, Jong Hoon (Department of Mechanical and Information Engineering, University of Seoul) ;
  • Jeong, Hyeon Soo (Department of Mechanical and Information Engineering, University of Seoul) ;
  • Byun, Seung Jae (Department of Mechanical and Information Engineering, University of Seoul) ;
  • Sagong, Ui Hun (Department of Mechanical and Information Engineering, University of Seoul) ;
  • Park, Jeong Hyun (Department of Mechanical and Information Engineering, University of Seoul) ;
  • Kim, Chang Hyun (Department of Mechanical and Information Engineering, University of Seoul) ;
  • Lee, Jae Chan (Department of Mechanical and Information Engineering, University of Seoul) ;
  • Kim, Do Hyeong (Department of Mechanical and Information Engineering, University of Seoul) ;
  • Hwang, Myun Joong (Department of Mechanical and Information Engineering, University of Seoul)
  • Received : 2022.03.24
  • Accepted : 2022.04.19
  • Published : 2022.05.31
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Abstract

In this paper, an autonomous driving system is implemented for the Segye AI Robot Race Competition that multiple vehicles drive simultaneously. By utilizing the ERP42-racing platform, RTK-GPS, and LiDAR sensors provided in the competition, we propose an autonomous driving system that can drive safely and quickly in a road environment with multiple vehicles. This system consists of a recognition, judgement, and control parts. In the recognition stage, vehicle localization and obstacle detection through waypoint-based LiDAR ROI were performed. In the judgement stage, target velocity setting and obstacle avoidance judgement are determined in consideration of the straight/curved section and the distance between the vehicle and the neighboring vehicle. In the control stage, adaptive cruise longitudinal velocity control based on safe distance and lateral velocity control based on pure-pursuit are performed. To overcome the limited experimental environment, simulation and partial actual experiments were conducted together to develop and verify the proposed algorithms. After that, we participated in the Segye AI Robot Race Competition and performed autonomous driving racing with verified algorithms.

Keywords

Acknowledgement

This work was supported by Korea Foundation for Women In Science, Engineering and Technology (WISET) grant funded by the Ministry of Science and ICT (MSIT) under the team research program for female engineering students. This competition was hosted by Segye-Ilbo and managed by Unmanned Solutions. The hardware and simulator used in this work were provided from them.

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