# Autonomous Formula Racecar: Overall System Design and Experimental Validation

arXiv: https://arxiv.org/abs/2009.00385 · HTML: https://mlsanity.com/paper/2009.00385/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 1 Sep 2020.

## Built on by (most cited first, 2 of 2)

- [Autonomous Vehicles on the Edge: A Survey on Autonomous Vehicle Racing](https://mlsanity.com/paper/2202.07008/) (2022)
- [er.autopilot 1.0: The Full Autonomous Stack for Oval Racing at High Speeds](https://mlsanity.com/paper/2310.18112/) (2023)

## Abstract (arXiv)

This paper develops and summarizes the work of building the autonomous integrated system including perception system and vehicle dynamic controller for a formula student autonomous racecar. We propose a system framework combining X-by-wired modification, perception & motion planning and vehicle dynamic control as a template of FSAC racecar which can be easily replicated. 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).