This repository contains maps from over 20 real race tracks (mainly F1 and DTM) downscaled on 1:10 for the usage in the F1TENTH Gym and F1TENTH Simulator.
- Austin, USA (F1)
- Brands Hatch, UK (DTM)
- Budapest, Hungary (F1)
- Catalunya, Spain (F1)
- Hockenheim, Germany (F1, DTM)
- IMS Indianapolis Motor Speedway, USA (IndyCar)
- Melbourne, Australia (F1)
- Mexico City, Mexico (F1)
- Montreal, Canada (F1)
- Monza, Italy (F1)
- Moscow Raceway, Russia (DTM)
- Norisring, Germany (DTM)
- Nuerburgring, Germany (DTM)
- Oschersleben, Germany (DTM)
- Sakhir, Bahrain (F1)
- Sao Paulo, Brazil (F1)
- Sepang, Malaysia (F1)
- Shanghai, China (F1)
- Silverstone, UK (F1)
- Sochi, Russia (F1)
- Spa, Belgium (F1)
- Spielberg, Austria (F1)
- Yas Marina, Abu Dhabi (F1)
- Zandvoort, Netherlands (DTM)
This repository is based on the f1 racketrack database which includes the racetrack information (inner bounds, outer bounds, track width) of 20 real racetracks all around the world. The original center lines on the real racetracks were fetched as GPS points from the OpenStreetMap project (https://www.openstreetmap.org). We applied a smoothing algorithm to the center lines. The track widths were extracted from satellite images using an image processing algorithm. Afterwards the data was downscaled 1:10 with a fixed track width of 2,20m so it can be used in the F1TENTH environments.
- maps: The tracks are displayed as occupancy grid maps based on a .pgm or .png file. That maps have a correspondong .yaml file that includes both resolution and origin of the maps. These maps can be used in both the F1TENTH Gym and the F1TENTH Simulator.
- waypoints: [x_m, y_m, w_tr_right_m, w_tr_left_m] These files contain the center line (x, y) and the track widths to the right (w_tr_right) and left (w_tr_left). The center lines were smoothed. Therefore, they do not lie perfectly in the middle of the track anymore.
The quality of the source data (GPS points and satellite images) varies greatly depending on the location. Accordingly, the quality of the results varies as well. Please bear this in mind and check whether the accuracy is sufficient for the desired application.
The original f1 racetrack database was created by Alexander Heilmeier from the Institute of Automotive Technology at the Technical University of Munich.