Abstract: To remedy the failures of path planning due to the limited identification of cones and barrels in the “U-bend” condition in FSAC racing car’s high-speed tracking, this paper proposes a cone and barrel map construction algorithm based on lidar and integrated inertial navigation system. The algorithm extracts the cone barrel center point cloud from the laser point cloud of the current frame, and projects the cone barrel point cloud in the laser coordinate system to the map coordinate system by multiplying the calibration matrix from radar to integrated inertial navigation system and the pose matrix of the vehicle in the map coordinate system calculated in real time by the integrated inertial navigation system, completing the construction and updating the cone barrel map. The algorithm is verified on vehicles and the results of three experiments show its average recall rate reads 98.7% and its average accuracy stands at 98.1%. The constructed map provides the planning algorithm to fit the global optimal path of the track for accelerated tracking, improving the perception and prediction ability of the car and the efficiency of path planning.