  The paper presents a strategy for the control of anautonomous racing car on a
pre-mapped track. Using a dynamic model of the vehicle, the optimal racing line
is computed, taking track boundaries into account. With the optimal racing line
as areference, a local nonlinear model predictive controller (NMPC) is
proposed, which takes into account multiple local objectives like making more
progress along the race line, avoiding collision with opponent vehicles, and
use of drafting to achieve more progress.
