  This paper presents the algorithms and system architecture of an autonomous
racecar. The introduced vehicle is powered by a software stack designed for
robustness, reliability, and extensibility. In order to autonomously race
around a previously unknown track, the proposed solution combines state of the
art techniques from different fields of robotics. Specifically, perception,
estimation, and control are incorporated into one high-performance autonomous
racecar. This complex robotic system, developed by AMZ Driverless and ETH
Zurich, finished 1st overall at each competition we attended: Formula Student
Germany 2017, Formula Student Italy 2018 and Formula Student Germany 2018. We
discuss the findings and learnings from these competitions and present an
experimental evaluation of each module of our solution.
