While the majority of autonomous driving research has concentrated on everyday driving scenarios, further safety and performance improvements of autonomous vehicles require a focus on extreme driving conditions. In this context, autonomous racing is a new area of research that has been attracting considerable interest recently. Due to the fact that a vehicle is driven by its perception, planning, and control limits during racing, numerous research and development issues arise. This paper provides a comprehensive overview of the autonomous racing system built by team KAIST for the Indy Autonomous Challenge (IAC). Our autonomy stack consists primarily of a multi-modal perception module, a high-speed overtaking planner, a resilient control stack, and a system status manager. We present the details of all components of our autonomy solution, including algorithms, implementation, and unit test results. In addition, this paper outlines the design principles and the results of a systematical analysis. Even though our design principles are derived from the unique application domain of autonomous racing, they can also be applied to a variety of safety-critical, high-cost-of-failure robotics applications. The proposed system was integrated into a full-scale autonomous race car (Dallara AV-21) and field-tested extensively. As a result, team KAIST was one of three teams who qualified and participated in the official IAC race events without any accidents. Our proposed autonomous system successfully completed all missions, including overtaking at speeds of around $220 km/h$ in the IAC@CES2022, the world's first autonomous 1:1 head-to-head race.

翻译：尽管当前自动驾驶研究主要聚焦于日常驾驶场景，但进一步提升自动驾驶车辆的安全性和性能需关注极限驾驶条件。在此背景下，自主竞速成为近年来备受关注的新兴研究领域。由于竞速过程中车辆始终处于感知、规划与控制能力的极限状态，因此催生了大量研究与发展课题。本文全面阐述了韩国科学技术院（KAIST）团队为Indy自动驾驶挑战赛（IAC）开发的自主竞速系统。我们的自主驾驶架构主要包括多模态感知模块、高速超车规划器、弹性控制栈及系统状态管理器。本文详细介绍了自主驾驶解决方案的算法实现、单元测试结果及所有组件的技术细节。此外，本文还系统阐述了设计原则与分析结论。尽管这些设计原则源于自主竞速这一特殊应用场景，但同样适用于各类安全关键、高失败代价的机器人应用。该自主系统已集成至全尺寸自动驾驶赛车（Dallara AV-21）并经过大量实车测试。最终，KAIST团队成为通过资格赛并成功参与IAC官方赛事且全程无事故的三支团队之一。在首届1对1头对头竞速赛事IAC@CES2022中，我们的自主系统成功完成了包含约220公里/小时超车在内的全部任务。