TUNERCAR: A Superoptimization Toolchain for Autonomous Racing
Matthew O’Kelly,Hongrui Zheng,Achin Jain,Joseph Auckley,Kim Luong,Rahul Mangharam,Matthew O’Kelly,Hongrui Zheng,Achin Jain,Joseph Auckley,Kim Luong,Rahul Mangharam
TUNERCAR is a toolchain that jointly optimizes racing strategy, planning methods, control algorithms, and vehicle parameters for an autonomous racecar. In this paper, we detail the target hardware, software, simulators, and systems infrastructure for this toolchain. Our methodology employs a parallel implementation of CMA-ES which enables simulations to proceed 6 times faster than real-world rollo...
