The rising popularity of self-driving cars has led to the emergence of a new research field in recent years: Autonomous racing. Researchers are developing software and hardware for high-performance race vehicles which aim to operate autonomously on the edge of the vehicle's limits: High speeds, high accelerations, low reaction times, highly uncertain, dynamic, and adversarial environments. This paper represents the first holistic survey that covers the research in the field of autonomous

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... We focus on the field of autonomous racecars only and display the algorithms, methods, and approaches used in the areas of perception, planning, control, and end-to-end learning. Further, with an increasing number of autonomous racing competitions, researchers now have access to high-performance platforms to test and evaluate their autonomy algorithms. This survey presents a comprehensive overview of the current autonomous racing platforms, emphasizing the software-hardware co-evolution to the current stage. Finally, based on additional discussion with leading researchers in the field, we conclude with a summary of open research challenges that will guide future researchers in this field. INDEX TERMS Autonomous systems, autonomous vehicles, intelligent vehicles, advanced driver assistance, simultaneous localization and mapping, path planning, control.