er.autopilot 1.0: The Full Autonomous Stack for Oval Racing at High
  Speeds
Ayoub Raji Danilo Caporale Francesco Gatti Andrea Giove Micaela Verucchi Davide Malatesta Nicola Musiu Alessandro Toschi Silviu Roberto Popitanu Fabio Bagni Massimiliano Bosi Alexander Liniger Marko Bertogna Daniele Morra Francesco Amerotti Luca Bartoli Federico Martello Riccardo Porta
The Indy Autonomous Challenge (IAC) brought together for the first time in
history nine autonomous racing teams competing at unprecedented speed and in
head-to-head scenario, using independently developed software on open-wheel
racecars. This paper presents the complete software architecture used by team
TII EuroRacing (TII-ER), covering all the modules needed to avoid static
obstacles, perform active overtakes and reach speeds above 75 m/s (270 km/h).
In addition to the most common modules related to perception, planning, and
control, we discuss the approaches used for vehicle dynamics modelling,
simulation, telemetry, and safety. Overall results and the performance of each
module are described, as well as the lessons learned during the first two
events of the competition on oval tracks, where the team placed respectively
second and third.