  This paper describes Ariel Team's autonomous racing controller for the Indy
Autonomous Challenge (IAC) simulation race. IAC is the first multi-vehicle
autonomous head-to-head competition, reaching speeds of 300 km/h along an oval
track, modeled after the Indianapolis Motor Speedway (IMS). Our racing
controller attempts to maximize progress along the track while avoiding
collisions with opponent vehicles and obeying the race rules. To this end, the
racing controller first computes a race line offline. Then, it repeatedly
computes online a small set of dynamically feasible maneuver candidates, each
tested for collision with the opponent vehicles. Finally, it selects the
maneuver that maximizes progress along the track, taking into account the race
line. The maneuver candidates, as well as the predicted trajectories of the
opponent vehicles, are approximated using a point mass model. Despite the
simplicity of this racing controller, it managed to drive competitively and
with no collision with any of the opponent vehicles in the IAC final simulation
race.
