AutoDRIVE RoboRacer Racetracks

1/10 Scale 3D Race Tracks for AutoDRIVE Simulator

Racetrack Library

Legacy Tracks

Porto Track	Berlin Track

Sim Racing Tracks

SRL 2024 IROS Track	SRL 2024 CDC Track
SRL 2025 ICRA Track	SRL 2025 CDC-TF Track

Custom Racetracks

Tip

Steps 1-3 assume that you are trying to reconstruct a physical RoboRacer racetrack based on its occupancy grid map (e.g., using SLAM). Skip to step 4 if you are designing a novel racetrack.

Step 1: Convert the occupancy grid map of the real-world track to PNG using a third-party graphics editing tool like Adobe Photoshop (free and open-source alternative: Inkscape).

Step 2: Import the PNG image of the occupancy grid map into a third-party 3D modeling tool like Trimble SketchUp (free and open-source alternative: Blender).

Step 3: Scale the PNG image of the occupancy grid map based on the resolution field specified in the YAML file accompanying the occupancy grid map.

$S_{\text{cartesian}} = R_{\text{map}} \cdot S_{\text{map}}$

• $S_{\text{cartesian}}$ = Cartesian size (in meters)
• $R_{\text{map}}$ = Map resolution
• $S_{\text{map}}$ = Map size (in pixels)

Step 4: Use a freehand tool to trace the inner and outer bounds of the racetrack based on the scaled PNG image of the occupancy grid map. Alternatively, design the outlines of your novel racetrack.

Step 5: If required, soften and explode the freehand curves for finer control.

Step 6: If required, correct any minor flaws or discontinuities in the track bounds.

Step 7: You now have the track bounds ready for 3D modeling.

Step 8: Create a circular cross-section to be swept across the track bounds, thereby representing the hollow air ducts. The radius of this cross-section will depend on the radius of the air ducts.

• Legacy Tracks use 5 in (127 mm) air ducts.
• Sim Racing Tracks use 6 in (152.4 mm) air ducts.

Step 9: If required, group the cross-section entity to ensure that it can be translated/rotated/scaled without affecting any other geometry in the scene.

Step 10: Move the cross-section entity such that the center of the circle coincides with the track bound. Duplicate the cross-section entity and repeat this for every discontinuous portion of the racetrack.

Step 11: Rotate the cross-section entity such that it aligns perpendicular to the tangent at that point on the track bound. Repeat this for all the cross-section entities.

Step 12: If required, ungroup (a.k.a. explode) the cross-section entity to enable further operations.

Step 13: If required, sub-divide the edge of each circular cross-section (e.g., 100 segments) to ensure a smooth hull for the air ducts.

Step 14: Sweep (a.k.a. follow me) the circular cross-sections along the track bounds to create the 3D geometry.

Step 15: Add 2 separate materials to the inner and outer surfaces of the 3D air ducts.

Step 16: The 3D racetrack is now ready to be imported within AutoDRIVE Simulator. Refer this documentation to learn more about the supported import formats.

Step 17: Upon importing in AutoDRIVE Simulator, update the materials in the Mesh Renderer component to improve photorealism, and add a Mesh Collider component to enable collision detection and resolution.