The German car giant says its RS7 vehicle topped 149mph (240km/h) while driving uncrewed round the Hockenheim racing circuit, south of Frankfurt.
The car took just over two minutes to complete a lap of the Grand Prix track.
Sunday’s stunt was organised to highlight the firm’s efforts to bring “piloted driving” to road vehicles. But one expert cautioned that several hurdles still needed to be overcome.
Audi – a division of Volkswagen – also put a human behind the wheel of the vehicle for a comparison lap. He took five seconds longer to complete the circuit.
A member of the car company’s research team explained that it believed the innovation could ultimately be used by the public.