Zeus: A system description of the two‐time winner of the collegiate SAE autodrive competition. Issue 1 (12th May 2020)

• Record Type: Journal Article
• Authors: Burnett, Keenan; Qian, Jingxing; Du, Xintong; Liu, Linqiao; Yoon, David J.; Shen, Tianchang; Sun, Susan; Samavi, Sepehr; Sorocky, Michael J.; Bianchi, Mollie; Zhang, Kaicheng; Arkhangorodsky, Arkady; Sykora, Quinlan; Lu, Shichen; Huang, Yizhou; Schoellig, Angela P.; Barfoot, Timothy D.
• Is Part Of: Journal of field robotics. Volume 38:Issue 1(2021)
• Page Start: 139
• Page End: 166
• Publication Date: 2020-05-12
• Subjects: autonomous vehicle -- autonomy system -- computer vision -- perception -- self driving car; Robots, Industrial -- Periodicals; Automatic control -- Periodicals; 629.892
• DOI: 10.1002/rob.21958
• Languages: English
• ISSNs: 1556-4959

Abstract

Abstract: The SAE AutoDrive Challenge is a 3‐year collegiate competition to develop a self‐driving car by 2020. The second year of the competition was held in June 2019 at MCity, a mock town built for self‐driving car testing at the University of Michigan. Teams were required to autonomously navigate a series of intersections while handling pedestrians, traffic lights, and traffic signs. Zeus is aUToronto's winning entry in the AutoDrive Challenge. This article describes the system design and development of Zeus as well as many of the lessons learned along the way. This includes details on the team's organizational structure, sensor suite, software components, and performance at the Year 2 competition. With a team of mostly undergraduates and minimal resources, aUToronto has made progress toward a functioning self‐driving vehicle, in just 2 years. This article may prove valuable to researchers looking to develop their own self‐driving platform.