Great question. I've heard several different theories from different sources. Some say that drivers sweat so much during a race (temperatures in-car
can reach up to 150 degrees) that excess fluids are simply sweated
out. Others have said that if the need to urinate arises, they just...well...
go. If you know what I mean.
They don't when they are driving, they go before and after a race.
I have personally asked this question of Stacy Compton who use to race in the Busch series and yes they wear padded underwear and go if they need to , but he said they get so hot and dehydrated that the majority of the time they don't even have to go to the bathroom.
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They can't leave their cockpit, so they can't pee during a race. But if it is unavoidable and end of the race is far, they do it simply in cockpit. When it's raining, cockpit is full of water and no one recognise, that driver did that.
The drivers are encouraged to urinate during a race as it is said if they crash with a full bladder, it may explode/rupture causing serious injuries/fatalities
From what articles have been written, they don't really have to. They are in the middle of a hot day in a fire suit in a hot car so they sweat out whatever they drink. They have to drink a lot to keep hydrated because whatever they do drink by the time the next caution comes around (if it isn't within the next 10 laps) they have already sweated it out. At least that is what Jimmie Johnson said when he was asked.