论文标题
灾难的边缘：自主赛车与安全之间的战斗
The Edge of Disaster: A Battle Between Autonomous Racing and Safety
论文作者
论文摘要
自主赛车代表了一个具有独特挑战性的控制环境，代理必须在车辆能力的范围内采取行动，以设定竞争圈速。这将代理商放在刀的边缘，在成功与失控之间的边缘很小。向这种极限朝着这一限制导致实际张力：我们希望代理商探索车辆控制的局限性以最大化速度，但无意间超越了该限制和失去控制可能会对车辆本身造成无法弥补的损害。我们提供了模型预测控制（MPC）基线，该基线能够在单一圈中安全地适应看不见的赛马场并实现竞争性的圈速。使用学习挑战的环境和指标，在模拟中证明了我们的方法功效。
Autonomous racing represents a uniquely challenging control environment where agents must act while on the limits of a vehicle's capability in order to set competitive lap times. This places the agent on a knife's edge, with a very small margin between success and loss of control. Pushing towards this limit leads to a practical tension: we want agents to explore the limitations of vehicle control to maximise speed, but inadvertently going past that limit and losing control can cause irreparable damage to the vehicle itself. We provide a model predictive control (MPC) baseline that is able to, in a single lap, safely adapt to an unseen racetrack and achieve competitive lap times. Our approaches efficacy is demonstrated in simulation using the Learn To Race Challenge's environment and metrics.
