Fig. 2 Automated and human driving. (A) “Shelley,” Stanford’s autonomous Audi TTS designed to race at the limits of handling. (B) Human driver’s MAD median path projected onto the first five turns of Thunderhill Raceway Park in Willows, California. (C) Shelley’s MAD median path scaled by a factor of 4 to highlight relative differences. (D) MAD median path for both the human driver and Shelley (in red) along with Shelley’s mean absolute deviation from the intended path (in blue). (E) Segment times from the champion amateur race driver benchmarked to Shelley.
Fig. 4 Experimental model comparisons. (A) Experiment track map, showing corresponding sections 1, 2, and 3 in experimental data plots. (B) Picture of Volkswagen GTI experimental autonomous race vehicle. (C) Experimental comparison between physics-based controller and neural network controller showing lower tracking error at the limits on oval test track. (D) Histogram showing difference in lateral error distributions of neural network and physics-based controllers on oval test track.
Fig. 5 Training and testing. (A) Training process for simulated data including multiple effects of model mismatch between data generation and optimization models. (B) Testing process for simulated data, showing generalization capability of learned models. (C) Training process for real collected vehicle data under various friction conditions. (D) Testing process for real vehicle data showing generalization capabilities of learned models.
- Table 1 Physics model definitions.
Parameter Symbol Units Front axle to CG a m Rear axle to CG b m Front lateral force Fyf N Front longitudinal force Fxf N Front tire slip αf rad Rear lateral force Fyr N Rear tire slip αr rad Steer angle input δ rad Yaw rate r rad/s Sideslip β rad Lateral path deviation e m Heading deviation ΔΨ rad Longitudinal velocity Ux m/s Lateral velocity Uy m/s
Supplementary Materials
robotics.sciencemag.org/cgi/content/full/4/28/eaaw1975/DC1
Fig. S1. Measured and predicted sideslip from experimental control comparison.
Fig. S2. Measured longitudinal speeds from experimental control comparison.
Table S1. Test dataset results from simulation learning study.
Table S2. Test dataset results from experimental data learning study.
Movie S1. Neural network controller implemented on automated GTI, tested on oval track at Thunderhill Raceway Park.
Additional Files
Supplementary Materials
The PDF file includes:
- Fig. S1. Measured and predicted sideslip from experimental control comparison.
- Fig. S2. Measured longitudinal speeds from experimental control comparison.
- Table S1. Test dataset results from simulation learning study.
- Table S2. Test dataset results from experimental data learning study.
Other Supplementary Material for this manuscript includes the following:
- Movie S1 (.mp4 format). Neural network controller implemented on automated GTI, tested on oval track at Thunderhill Raceway Park.
Files in this Data Supplement:
