# Building a Winning Self-Driving Car in Six Months

arXiv: https://arxiv.org/abs/1811.01273 · HTML: https://mlsanity.com/paper/1811.01273/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 3 Nov 2018.

## Built on by (most cited first, 1 of 1)

- [Deep Q-Network Based Decision Making for Autonomous Driving](https://mlsanity.com/paper/2303.11634/) (2023)

## Abstract (arXiv)

The SAE AutoDrive Challenge is a three-year competition to develop a Level 4 autonomous vehicle by 2020. The first set of challenges were held in April of 2018 in Yuma, Arizona. Our team (aUToronto/Zeus) placed first. In this paper, we describe our complete system architecture and specialized algorithms that enabled us to win. We show that it is possible to develop a vehicle with basic autonomy features in just six months relying on simple, robust algorithms. We do not make use of a prior map. Instead, we have developed a multi-sensor visual localization solution. All of our algorithms run in real-time using CPUs only. We also highlight the closed-loop performance of our system in detail in several experiments.