1. General

The International F1TENTH Autonomous Racing Competition is an open racing competition that welcomes teams of all skill levels. Each team can have any number of members, but each participant can only be a member of one team. To enter the competition, teams must complete a registration form, where they choose one variant of the competition to participate in.

2. In-person (physical competition)

F1TENTH Autonomous Racing Competition has three main parts: Inspection, Time Trials, and 2 Vehicle Head-to-Head race. Teams must build unique cars for in-person competition.

2.1 Vehicle Specifications

  1. The vehicle is constructed according to the official bill of materials. The teams are allowed to use components of similar or lower specifications.
  2. Each vehicle will be inspected as a part of qualification whether it meets the criteria. In case the criteria are not met, the vehicle is moved to the Open Class.
  3. F1TENTH Competition is a battle of algorithms. Any hardware that should turn the odds in your favor is not allowed.
  4. Chassis: Any chassis listed as 1:10 scale car is allowed. Preferably 1:10 Traxxas (e.g., TRA74054, TRA6804R, TRA68086), but generally, any chassis with similar dimensions is allowed. Both 4WD and 2WD are permitted.
  5. Main Computation Unit: Nvidia Jetson Xavier NX, Equivalents to the Nvidia Jetson NX (e.g. Nvidia Jetson TX2, Nvidia Jetson Nano), or anything of equal or lower GPU and CPU specification is allowed. Examples of possible computation units could be: Raspberry Pi, Arduino, Beaglebone.
  6. LiDAR: Hokuyo UST-10LX, its equivalent, or anything of lower specifications is allowed. The main observed characteristics are: detection range (10 m), scanning frequency (40 Hz), and angular resolution (0.25°).
  7. Camera: Both monocamera (e.g. Logitech C270, Logitech C920, Raspberry Pi Camera Module V2, Arducam) and stereokameras (e.g. Intel Realsense, ZED) are allowed.
  8. Engine: Only brushless DC motors are allowed. The Velineon 3500 kV, its equivalent, or anything of lower specifications regarding power and torque are allowed.
  9. Other sensors: Other sensors (IMUs, encoders, custom electronic speed controllers) are not restricted. Indoor GPS sensors (e.g. Marvelmind) are not allowed. In addition, in the spirit of the competition, components with significant internal computation power are prohibited.

2.2 Track and Racing Envioronment

The track environment for the F1TENTH Autonomous Racing Competition is characterized by a flat and reflective surface, posing challenges for LiDAR and depth camera ground detection. The room has windows covered partially with non-transparent material up to 50 cm from the ground to improve perception. It is brightly lit, with potential sunlight exposure. The track border consists of two 13 cm diameter air pipes made of aluminum and metal, secured with plastic holders, allowing LiDAR beams to pass through gaps. The track area measures 28.5×11 m.

2.3 Inspection

  1. The inspection of the vehicles is done on the first competition day in the morning.
  2. The inspection is done by the race referees.
  3. The inspection has to be completed before the Time Trials and after significant changes to the cars hardware or algorithms.