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.
