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The Indy Autonomous Challenge (IAC) brought together for the first time inhistory nine autonomous racing teams competing at unprecedented speed and inhead-to-head scenario, using independently developed software on open-wheelracecars. This paper presents the complete software architecture used by teamTII EuroRacing (TII-ER), covering all the modules needed to avoid staticobstacles, perform active overtakes and reach speeds above 75 m/s (270 km/h).In addition to the most common modules related to perception, planning, andcontrol, we discuss the approaches used for vehicle dynamics modelling,simulation, telemetry, and safety. Overall results and the performance of eachmodule are described, as well as the lessons learned during the first twoevents of the competition on oval tracks, where the team placed respectivelysecond and third.

er.autopilot 1.0: The Full Autonomous Stack for Oval Racing at High Speeds