# Autonomous Driving System Design for Formula Student Driverless Racecar

arXiv: https://arxiv.org/abs/1809.07636 · HTML: https://mlsanity.com/paper/1809.07636/

## Key facts

- Cited by 4 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 19 Sep 2018.

## Built on by (most cited first, 4 of 4)

- [Autonomous Vehicles on the Edge: A Survey on Autonomous Vehicle Racing](https://mlsanity.com/paper/2202.07008/) (2022)
- [Vision in adverse weather: Augmentation using CycleGANs with various object detectors for robust perception in autonomous racing](https://mlsanity.com/paper/2201.03246/) (2022)
- [Racing Towards Reinforcement Learning based control of an Autonomous Formula SAE Car](https://mlsanity.com/paper/2308.13088/) (2023)
- [Racing With ROS 2 A Navigation System for an Autonomous Formula Student Race Car](https://mlsanity.com/paper/2311.14276/) (2023)

## Abstract (arXiv)

This paper summarizes the work of building the autonomous system including detection system and path tracking controller for a formula student autonomous racecar. A LIDAR-vision cooperating method of detecting traffic cone which is used as track mark is proposed. Detection algorithm of the racecar also implements a precise and high rate localization method which combines the GPS-INS data and LIDAR odometry. Besides, a track map including the location and color information of the cones is built simultaneously. Finally, the system and vehicle performance on a closed loop track is tested. This paper also briefly introduces the Formula Student Autonomous Competition (FSAC) in 2017.