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...