Indy Autonomous Challenge
Full scale autonomous racing at high speeds (>100mph)
Driving at high speeds comes with several challenges related to update frequency, braking conditions. Especially in racing conditions where dynamic passing and collision safety is critical to performance. The Indy Autonomous Challenge is a competition to advance autonomous driving technologies and deployments of advanced driver assistant systems (ADAS) to increase safety and performance.
As part of Purdue team, I developed a hierarchical safety controller to safely bring the vehicle to stop in case on emergencies. In addition, a fall back PD controller was created to run the vehicle if the main controller fails.
The dynamic planning for the vehicle was implemented using a Frenet frame planner to achieve rapid generation of paths for dynamic passing at high speeds.
