The 3rd Japan Automotive AI Challenge was an international online autonomous racing challenge where 164 teams competed in December 2021. This paper outlines the winning strategy to this competition, and the advantages and challenges of using the Autoware.Auto open source autonomous driving platform for multi-agent racing. Our winning approach includes a lane-switching opponent overtaking strategy, a global raceline optimization, and the integration of various tools from Autoware.Auto including a Model-Predictive Controller. We describe the use of perception, planning and control modules for high-speed racing applications and provide experience-based insights on working with Autoware.Auto. While our approach is a rule-based strategy that is suitable for non-interactive opponents, it provides a good reference and benchmark for learning-enabled approaches.
翻译：第三届日本汽车AI挑战赛是国际在线自主赛挑战,有164支队伍在2021年12月参加比赛。本文概述了这场比赛的获胜策略,以及使用Autoware的优势和挑战。“自动开放源码自主驱动多试赛平台”的优势和挑战。我们的胜球方法包括车道开关的对手压倒战略、全球赛线优化,以及整合来自Autoware的各种工具。“自动”包括一名模型预测主计长。我们描述了高速赛跑应用程序使用感知、规划和控制模块的情况,并介绍了与Autoware合作的经验性见解。“Auto”虽然我们的方法是一种适合非互动对手的基于规则的战略,但它为学习方法提供了良好的参考和基准。
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