Random Track Generator

Generate random, rules-compliant tracks for Formula Student Driverless competitions. Creates realistic tracks with proper track width, cone spacing, and corner radii using Voronoi diagram-based generation.

Developed by Formula Student Team Delft for use with FSSIM and FSDS.

How It Works

Tracks are generated using bounded Voronoi diagrams from uniformly sampled points. Regions are selected using one of three modes (Expand, Extend, or Random), then interpolated with cubic splines to create smooth, realistic racing lines.

Installation

uv sync

Usage

Basic Example

from track_generator import TrackGenerator
from utils import Mode, SimType

# Configure track generation
track_gen = TrackGenerator(
    n_points=60,           # Voronoi points
    n_regions=20,          # Regions to select
    min_bound=0.,          # Minimum x/y bound
    max_bound=150.,        # Maximum x/y bound
    mode=Mode.EXTEND,      # Selection mode
    plot_track=True,
    visualise_voronoi=True,
    create_output_file=True,
    output_location='/',
    sim_type=SimType.FSSIM
)

track_gen.create_track()

Generation Modes

• Mode.EXPAND - Selects nearest neighbors for roundish tracks
• Mode.EXTEND - Selects regions along a random line for elongated tracks
• Mode.RANDOM - Randomly selects regions for large, irregular tracks

Simulator Output

• SimType.FSSIM - Exports YAML format for FSSIM
• SimType.FSDS - Exports CSV format for FSDS
• SimType.GPX - Exports GPX format with lat/lon coordinates

Quick Start

uv run python main.py

Edit parameters directly in main.py or use the TrackGenerator class in your own scripts.

Configuration

All generation parameters can be configured through the TrackGenerator constructor. Key parameters include Voronoi diagram bounds, region selection count, track constraints (width, cone spacing, curvature), and output options.

Note: Not all parameter combinations produce stable results. Experiment with settings if generation fails.

Credits

Based on Ian Hudson's Race-Track-Generator.