This paper presents a detailed description of the software architecture that is used in the autonomous Roborace vehicles by the TUM-Team. The development of the software architecture was driven by both hardware components and usage of open source languages for making the software architecture reusable and easy to understand. The architecture combines the autonomous software functions perception, planning and control which are modularized for the usage on different hardware and for the purpose of using the car on high speed racetracks. The goal of the paper is to show which software functions are necessary for letting the car drive autonomously and fast around a racetrack.