The SAE AutoDrive Challenge is a three-year collegiate competition to develop a self-driving car by 2020. The second year of the competition was held in June 2019 at MCity, a mock town built for self-driving car testing at the University of Michigan. Teams were required to autonomously navigate a series of intersections while handling pedestrians, traffic lights, and traffic signs. Zeus is aUToronto's winning entry in the AutoDrive Challenge. This article describes the system design and development of Zeus as well as many of the lessons learned along the way. This includes details on the team's organizational structure, sensor suite, software components, and performance at the Year 2 competition. With a team of mostly undergraduates and minimal resources, aUToronto has made progress towards a functioning self-driving vehicle, in just two years. This article may prove valuable to researchers looking to develop their own self-driving platform.

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Zeus：大学 SAE 自动驾驶竞赛两届冠军的系统描述

SAE AutoDrive Challenge 是一项为期三年的大学竞赛，旨在到 2020 年开发自动驾驶汽车。第二年的竞赛于 2019 年 6 月在密歇根大学为自动驾驶汽车测试而建造的模拟小镇 MCity 举行. 团队需要在处理行人、交通信号灯和交通标志的同时自主导航一系列交叉路口。Zeus 是多伦多汽车驾驶挑战赛的获胜者。本文介绍了 Zeus 的系统设计和开发以及沿途学到的许多经验教训。这包括有关团队组织结构、传感器套件、软件组件和第 2 年比赛表现的详细信息。多伦多大学的团队主要由本科生和最少的资源组成，在开发功能强大的自动驾驶汽车方面取得了进展，在短短两年内。本文可能对希望开发自己的自动驾驶平台的研究人员很有价值。