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.

中文翻译：

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边缘自动驾驶汽车：自动驾驶汽车赛车调查


自动驾驶汽车的日益普及导致近年来出现了一个新的研究领域：自动驾驶赛车。研究人员正在开发高性能赛车的软件和硬件，旨在在车辆极限的边缘自动运行：高速度、高加速度、短反应时间、高度不确定、动态和对抗性环境。本文代表了第一个涵盖自动驾驶赛车领域研究的整体调查。我们只关注自动驾驶赛车领域，展示感知、规划、控制和端到端学习领域使用的算法、方法和途径。此外，随着自动驾驶赛车比赛数量的增加，研究人员现在可以使用高性能平台来测试和评估其自动算法。本次调查全面概述了当前的自动驾驶赛车平台，强调了现阶段的软硬件共同进化。最后，根据与该领域领先研究人员的进一步讨论，我们总结了开放研究挑战，这将指导该领域的未来研究人员。