Head-to-Head autonomous racing at the limits of handling in the A2RL challenge

Autonomous racing presents a complex challenge involving multi-agent interactions between vehicles operating at the limit of performance and dynamics. As such, it provides a valuable research and testing environment for advancing autonomous driving technology and improving road safety. This article presents the algorithms and deployment strategies developed by the TUM Autonomous Motorsport team for the inaugural Abu Dhabi Autonomous Racing League (A2RL). We showcase how our software emulates human driving behavior, pushing the limits of vehicle handling and multi-vehicle interactions to win the A2RL. Finally, we highlight the key enablers of our success and share our most significant learnings.

Model-Structured Neural Networks to Control the Steering Dynamics of Autonomous Race Cars

Autonomous racing has gained increasing attention in recent years, as a safe environment to accelerate the development of motion planning and control methods for autonomous driving. Deep learning models, predominantly based on neural networks (NNs), have demonstrated significant potential in modeling the vehicle dynamics and in performing various tasks in autonomous driving. However, their black-box nature is critical in the context of autonomous racing, where safety and robustness demand a thorough understanding of the decision-making algorithms. To address this challenge, this paper proposes MS-NN-steer, a new Model-Structured Neural Network for vehicle steering control, integrating the prior knowledge of the nonlinear vehicle dynamics into the neural architecture. The proposed controller is validated using real-world data from the Abu Dhabi Autonomous Racing League (A2RL) competition, with full-scale autonomous race cars. In comparison with general-purpose NNs, MS-NN-steer is shown to achieve better accuracy and generalization with small training datasets, while being less sensitive to the weights' initialization. Also, MS-NN-steer outperforms the steering controller used by the A2RL winning team. Our implementation is available open-source in a GitHub repository.

Hierarchical Time-Optimal Planning for Multi-Vehicle Racing

This paper presents a hierarchical planning algorithm for racing with multiple opponents. The two-stage approach consists of a high-level behavioral planning step and a low-level optimization step. By combining discrete and continuous planning methods, our algorithm encourages global time optimality without being limited by coarse discretization. In the behavioral planning step, the fastest behavior is determined with a low-resolution spatio-temporal visibility graph. Based on the selected behavior, we calculate maneuver envelopes that are subsequently applied as constraints in a time-optimal control problem. The performance of our method is comparable to a parallel approach that selects the fastest trajectory from multiple optimizations with different behavior classes. However, our algorithm can be executed on a single core. This significantly reduces computational requirements, especially when multiple opponents are involved. Therefore, the proposed method is an efficient and practical solution for real-time multi-vehicle racing scenarios.