In 2005 DARPA labeled the realization of viable autonomous vehicles (AVs) a
grand challenge; a short time later the idea became a moonshot that could
change the automotive industry. Today, the question of safety stands between
reality and solved. Given the right platform the CPS community is poised to
offer unique insights. However, testing the limits of safety and performance on
real vehicles is costly and hazardous. The use of such vehicles is also outside
the reach of most researchers and students. In this paper, we present F1/10: an
open-source, affordable, and high-performance 1/10 scale autonomous vehicle
testbed. The F1/10 testbed carries a full suite of sensors, perception,
planning, control, and networking software stacks that are similar to full
scale solutions. We demonstrate key examples of the research enabled by the
F1/10 testbed, and how the platform can be used to augment research and
education in autonomous systems, making autonomy more accessible
