Formula Student Driverless (FSD) challenges engineering students to develop autonomous single-seater race cars in a quest to bring about more graduates who are well prepared to solve the real-world problems associated with autonomous driving. In this article, we present the software stack of KA-RaceIng’s entry to the 2019 competitions. We cover the essential modules of the system, including perception, localization, mapping, motion planning, and control. Furthermore, development methods are outlined, and an overview of the system architecture is given. We conclude by presenting selected runtime measurements, data logs, and competition results to provide an insight into the performance of the final prototype.


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    Title :

    The Autonomous Racing Software Stack of the KIT19d


    Additional title:

    Sae Intl. J Cav




    Publication date :

    2022-01-06


    Size :

    14 pages




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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