The 17th F1TENTH Grand Prix (HongKong)

Supervised by Prof. Wang Jianping, our team (FSM Speed) has triumphed at the 17th F1TENTH Autonomous GrandPrix during the CPS-IoT Week 2024 in HongKong. The team members include PhD students Deng Jinghuai, Huang Bingyuan, Dong Xiaoyun, Hu Hua, and Li Jiahao.

In the lap time race, our team implemented a map-based algorithm involving an AMCL localization module, RaceLine generation module, and MPC control module. The AMCL localization error is less than 1cm. The raceLine generation module optimizes for both shortest and minimal time paths, considering vehicle chassis performance and track conditions. Additionally, the MPC control module ensures control error remains within 1cm.

In the head-to-head competition, the classical follow the gap algorithm is optimized. The speed and steer-angle in next timestamp are calibrated based on the farthest point from the ego vehicle and current speed. It address the problem of continuous collision in irregular corners and demonstrate outstanding overtaking and obstacle avoidance capabilities.