Design and Simulation of an Autonomous Racecar: Perception, SLAM, Planning and Control

Formula Student Driverless competition focuses on design, manufacture and racing of an autonomous racecar on closed track. This paper describes the hardware and software concept of the 2020-rebuilt AERO Driverless Racing Team. To achieve driverless goal, our autonomous racecar is modified based on the 2017 AERO electric racecar by adding the brake-by-wire and steer-by-wire. The driverless software system can be divided into perception, SLAM, planning and control. To speed up software development, we built our simulation model on the Vrep simulator containing vehicle model, autonomous sensors, TF relationship and racing track environment. This paper is a summary for past effort and a start of future development.