Ghost
Summary
Ghost is an autonomous car used for Folkrace robot competition. It uses a customized Losi 1/24-scale RTR 4WD Rally Car, and with a custom created PCB and various sensors. The "brain" of the car is a ESP32, and it is programmed using C++ and FreeRTOS.
This GitHub repository contains all relevant info for creating both hardware and software.
More details about the project can be found on Hackaday: https://hackaday.io/project/12995-autonomous-model-car and http://scalpel78.github.io/Ghost/