Autonomous Overtaking in Gran Turismo Sport Using Curriculum Reinforcement Learning
Yunlong Song,HaoChih Lin,Elia Kaufmann,Peter Dürr,Davide Scaramuzza,Yunlong Song,HaoChih Lin,Elia Kaufmann,Peter Dürr,Davide Scaramuzza
Professional race-car drivers can execute extreme overtaking maneuvers. However, existing algorithms for autonomous overtaking either rely on simplified assumptions about the vehicle dynamics or try to solve expensive trajectory-optimization problems online. When the vehicle approaches its physical limits, existing model-based controllers struggle to handle highly nonlinear dynamics, and cannot le...
