Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: The Autonomous Racing Software Stack of the KIT19d   Formula Student Driverless challenges engineering students to develop
autonomous single-seater race cars in a quest to bring about more graduates who
are well-prepared to solve the real world problems associated with autonomous
driving. In this paper, we present the software stack of KA-RaceIng's entry to
the 2019 competitions. We cover the essential modules of the system, including
perception, localization, mapping, motion planning, and control. Furthermore,
development methods are outlined and an overview of the system architecture is
given. We conclude by presenting selected runtime measurements, data logs, and
competition results to provide an insight into the performance of the final
prototype.

2
The categories of this paper are: math
28
The categories of this paper are: alg-geom
25
The categories of this paper are: patt-sol
15
The categories of this paper are: nucl-ex
9
The categories of this paper are: nlin
18
The categories of this paper are: econ
10
The categories of this paper are: q-bio
29
The categories of this paper are: funct-an
27
The categories of this paper are: comp-gas
4
The categories of this paper are: cond-mat
6
The categories of this paper are: astro-ph
20
The categories of this paper are: acc-phys
33
The categories of this paper are: plasm-ph
23
The categories of this paper are: solv-int
13
The categories of this paper are: quant-ph
5
The categories of this paper are: gr-qc