Scientific development often takes place in the context of research projects carried out by dedicated students during their time at university. In the field of self-driving software research, the Formula Student Driverless competitions are an excellent platform to promote research and attract young engineers. This article presents the software stack developed by BME Formula Racing Team, that formed the foundation of the development that ultimately led us to full-scale autonomous racing. The experience we gained here contributes greatly to our successful participation in the Abu Dhabi Autonomous Racing League. We therefore think it is important to share the system we used, providing a valuable starting point for other ambitious students. We provide a detailed description of the software pipeline we used, including a brief description of the hardware-software architecture. Furthermore, we introduce the methods that we developed for the modules that implement perception; localisation and mapping, planning, and control tasks.
View on arXiv@article{demeter2025_2504.18439,
title={ The Autonomous Software Stack of the FRED-003C: The Development That Led to Full-Scale Autonomous Racing },
author={ Zalán Demeter and Levente Puskás and Balázs Kovács and Ádám Matkovics and Martin Nádas and Balázs Tuba and Zsolt Farkas and Ármin Bogár-Németh and Gergely Bári },
journal={arXiv preprint arXiv:2504.18439},
year={ 2025 }
}