Autonomous Vehicles on the Edge: A Survey on Autonomous Vehicle Racing

The rising popularity of self-driving cars has led to the emergence a new research field in recent years: Autonomous racing. Researchers are developing software and hardware for high performance race vehicles which aim operate autonomously on edge limits: High speeds, accelerations, low reaction times, highly uncertain, dynamic adversarial environments. This paper represents first holistic survey that covers autonomous We focus racecars only display algorithms, methods approaches used fields perception, planning control as well end-to-end learning. Further, with an increasing number racing competitions, researchers now have access range platforms test evaluate their autonomy algorithms. presents comprehensive overview current emphasizing both software-hardware co-evolution stage. Finally, based additional discussion leading we conclude summary open challenges will guide future this field.