  The SAE AutoDrive Challenge is a three-year collegiate competition to develop
a self-driving car by 2020. The second year of the competition was held in June
2019 at MCity, a mock town built for self-driving car testing at the University
of Michigan. Teams were required to autonomously navigate a series of
intersections while handling pedestrians, traffic lights, and traffic signs.
Zeus is aUToronto's winning entry in the AutoDrive Challenge. This article
describes the system design and development of Zeus as well as many of the
lessons learned along the way. This includes details on the team's
organizational structure, sensor suite, software components, and performance at
the Year 2 competition. With a team of mostly undergraduates and minimal
resources, aUToronto has made progress towards a functioning self-driving
vehicle, in just two years. This article may prove valuable to researchers
looking to develop their own self-driving platform.
