# The Autonomous Racing Software Stack of the KIT19d

arXiv: https://arxiv.org/abs/2010.02828 · HTML: https://mlsanity.com/paper/2010.02828/

## Key facts

- Cited by 4 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 6 Oct 2020.

## 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)
- [Indy Autonomous Challenge -- Autonomous Race Cars at the Handling Limits](https://mlsanity.com/paper/2202.03807/) (2022)
- [er.autopilot 1.0: The Full Autonomous Stack for Oval Racing at High Speeds](https://mlsanity.com/paper/2310.18112/) (2023)
- [Partial End-to-end Reinforcement Learning for Robustness Against Modelling Error in Autonomous Racing](https://mlsanity.com/paper/2312.06406/) (2023)

## Abstract (arXiv)

Formula Student Driverless 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 paper, 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.