  This paper develops and summarizes the work of building the autonomous
integrated system including perception system and vehicle dynamic controller
for a formula student autonomous racecar. We propose a system framework
combining X-by-wired modification, perception & motion planning and vehicle
dynamic control as a template of FSAC racecar which can be easily replicated. A
LIDAR-vision cooperating method of detecting traffic cone which is used as
track mark is proposed. Detection algorithm of the racecar also implements a
precise and high rate localization method which combines the GPS-INS data and
LIDAR odometry. Besides, a track map including the location and color
information of the cones is built simultaneously. Finally, the system and
vehicle performance on a closed loop track is tested. This paper also briefly
introduces the Formula Student Autonomous Competition (FSAC).
