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

pip install random-track-generator

Usage

Generate a random track

from random_track_generator import generate_track

# Use preset parameters
track = generate_track("small")
track = generate_track("medium")
track = generate_track("large", seed=42)

# Or set parameters manually
track = generate_track(
    n_points=60,       # Voronoi points
    n_regions=20,      # Regions to select
    min_bound=0.,      # Minimum x/y bound [m]
    max_bound=150.,    # Maximum x/y bound [m]
    mode="extend",     # Generation mode
    seed=42            # Optional: for reproducibility
)

cones_left, cones_right = track.as_tuple()

Generation Modes

• "expand" - Selects nearest neighbors for roundish tracks
• "extend" - Selects regions along a random line for elongated tracks
• "random" - Randomly selects regions for large, irregular tracks

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

Load a preset track

from random_track_generator import load_track

track = load_track("FSG")                       # FSG and FSI available
cones_left, cones_right = track.as_tuple()

Save to file

track.save("output/", sim_type="fssim")         # YAML for FSSIM
track.save("output/", sim_type="fsds")          # CSV for FSDS
track.save("output/", sim_type="gpx", 
           lat_offset=51.19, lon_offset=5.32)   # GPX with coordinates

Credits

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