Indy Autonomous Challenge - Autonomous Race Cars at the Handling Limits

Motorsport has always been an enabler for technological advancement, and the same applies to autonomous driving industry. The team TUM Autonomous Motorsports will participate in Indy Challenge October 2021 benchmark its self-driving software-stack by racing one out of ten Dallara AV-21 racecars at Indianapolis Motor Speedway. first part this paper explains reasons entering vehicle race from academic perspective: It allows focusing on several edge cases encountered vehicles, such as challenging evasion maneuvers unstructured scenarios. At time, it is inherently safe due motorsport related track safety precautions. therefore ideal testing ground development algorithms capable mastering most rare situations. In addition, we provide insight into our software workflow present Hardware-in-the-Loop simulation setup. running simulations up eight vehicles real time. second gives a high-level overview architecture covers priorities building high-performance software: maximum sensor detection range, reliable handling multi-vehicle situations, well motion control under uncertainty.