  In this work, we present a rigorous end-to-end control strategy for
autonomous vehicles aimed at minimizing lap times in a time attack racing
event. We also introduce AutoRACE Simulator developed as a part of this
research project, which was employed to simulate accurate vehicular and
environmental dynamics along with realistic audio-visual effects. We adopted a
hybrid imitation-reinforcement learning architecture and crafted a novel reward
function to train a deep neural network policy to drive (using imitation
learning) and race (using reinforcement learning) a car autonomously in less
than 20 hours. Deployment results were reported as a direct comparison of 10
autonomous laps against 100 manual laps by 10 different human players. The
autonomous agent not only exhibited superior performance by gaining 0.96
seconds over the best manual lap, but it also dominated the human players by
1.46 seconds with regard to the mean lap time. This dominance could be
justified in terms of better trajectory optimization and lower reaction time of
the autonomous agent.
