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Release Notes

Unreleased

Added

  • Added a parser and corresponding tests, documentations for DriveInsightD dataset.

Version 0.1.9rc3 - 2026-01-29

Added

  • Added ControlBase, PIDController, and IDMController
  • Added tests for controllers.
  • Added classic search algorithms: Dijkstra, A, D, Hybrid A, RRT, RRT, RRTConnect.
  • Added tests for classic search algorithms.
  • Added tutorial for classic search algorithms in grid world environment.
  • Added claude documents and ruls to boost development efficiency.

Changed

  • Aligned interface within controller module.
  • Fixed dependency vulnerability issue of protobuf.

Version 0.1.9rc1 - 2026-01-09

Added

  • Add defusedxml dependency for enhanced XML parsing safety.
  • Add CI tests for multiple operating systems.

Changed

  • Split tactics2d.math module into tactics2d.interpolator and tactics2d.geometry.
  • Refactor geometry module:
  • Remove get_circle_by_three_points and get_circle_by_tangent_vector methods from Circle class.
  • Consolidate functionality into Circle.get_circle(**kwargs) method.
  • Refactor interpolator module:
  • Change get_curve method to static for Bezier, BSpline, and CubicSpline classes.
  • Move order parameter from __init__ to get_curve method in Bezier class.
  • Move degree parameter from __init__ to get_curve method in BSpline class.
  • Move boundary_type parameter from __init__ to get_curve method in CubicSpline class.
  • Rename get_spiral method to get_curve in Spiral class.
  • Rename tactics2d.traffic.scenario_display module to tactics2d.sensor.matplotlib.renderer.
  • Update sensor interfaces to return dictionaries for frontend rendering:
  • Update tactics2d.sensor.camera interface.
  • Update tactics2d.sensor.lidar interface.
  • Replace TensorFlow dependency with tfrecord for WOMD parsing:
  • Remove tensorflow-cpu dependency.
  • Add tfrecord>=0.2.0 dependency.
  • Update WOMDParser to use tfrecord.tfrecord_iterator instead of tf.data.TFRecordDataset.
  • Cache scenario data to avoid generator exhaustion.
  • Change headers to follow PEP format.
  • Improve code formatting and remove unused imports.
  • Correct header version and formats.
  • Change matplotlib backend to Agg for non-interactive environments.
  • Update version to 0.1.9rc1.
  • Normalize Python file header descriptions.
  • Update copyright years based on git history.

Fixed

  • Improve NuPlanParser.map_parser() method (ongoing improvements).

Removed

  • Remove test dependency on bezier library.

Version 0.1.8 - 2025-05-22

Added

  • Add NGSIM data parser.
  • Add CitySim data parser.
  • Add Carla sensor base class.
  • Add pure pursuit controller class.
  • Add tutorial for pure pursuit controller in racing environment.
  • Add Chinese README documentation.
  • Add data analysis for LevelX datasets (highD, inD, rounD, exiD, uniD) and CitySim.

Changed

  • Improve performance of LevelX datasets processing using polars (10x faster).
  • Move test directory to tests in root directory.
  • Improve map rendering speed.
  • Improve performance of Bezier and B-spline interpolators with C++ implementation.
  • Change interface of tactics2d.map.parser.OSMParser and tactics2d.map.parser.XODRParser.

Fixed

  • Fix type_node is None bug.
  • Fix bugs in test_b_spline.py.
  • Fix pygame window unresponsiveness when events are not handled.

Version 0.1.7 - 2024-05-22

Added

  • Add tutorial for training an agent in parking lot environment.

Changed

  • Change tag trigger from pull_request to workflow_dispatch in tactics2d/.github/workflows/tag_on_PR.yml.
  • Adjust configurations in parking environment.
  • Improve point generation process in Dubins and Reeds-Shepp interpolators.

Fixed

  • Fix lane parsing error in tactics2d/map/parser/parse_xodr.py.
  • Remove "height" tag when parsing OSM map with Lanelet2 tag style in tactics2d/map/parser/parse_osm.py.
  • Fix checking condition of NoAction scenario event detection.

Removed

  • Remove action_mask.py, rs_planner.py, and train_parking_agent.py files from tutorial folder.

Version 0.1.6 - 2024-04-01

The first release of the project.

New Features

  1. Dataset Parser

    Support parsing maps and trajectories from the following datasets:

    • HighD
    • InD
    • RounD
    • ExiD
    • Argoverse
    • Dragon Lake Parking (DLP)
    • INTERACTION
    • NuPlan
    • WOMD

  2. Map Parser

    Support parsing maps in the following formats:

    • OpenStreetMap (OSM)
    • OpenStreetMap annotated in Lanelet2
    • OpenDRIVE (XODR)

  3. Math Interpolation Algorithms

    Support the following interpolation algorithms:

    • B-Spline
    • Bezier
    • Cubic
    • Spiral
    • Dubins
    • Reeds Shepp

  4. Traffic Participant

    The following traffic participants are implemented:

    • Vehicle
    • Cyclist
    • Pedestrian

    For each traffic participants, a set of parameters are available to configure the behavior.

  5. Physics Model

    The following physics model of traffic participants are supported:

    • Bicycle model (Kinematic): recommended for cyclists and low-speed vehicles
    • Bicycle model (Dynamic): recommended for cyclists and high-speed vehicles
    • Point mass (Kinematic): recommended for pedestrians
    • Single-track drift model (Dynamic): recommended for vehicles

  6. Road Element

    The following road elements are implemented:

    • Lane
    • Area
    • Junction
    • Road line
    • Base class of traffic regulations

  7. Traffic Event Detection

    • Static collision detection
    • Dynamic collision detection
    • Arrival event detection

  8. Sensor

    • Bird-eye-view (BEV) semantic segmentation RGB image
    • Single-line LiDAR point cloud

Template

## Version X.Y.Z - Year-Month-Date

A concise description that overviews the changes in this release.

### Breaking Changes

A complete list of breaking changes (preferably there are none, unless this is a major version).

### New Features

Describe the new feature and when/why to use it. Add some pictures! Call out any caveats/warnings? Is it a beta feature?

### Bug Fixes
Call out any existing feature/functionality that now works as intended or expected.

### Improvements
Improvements/enhancements to a workflow, performance, logging, error messaging, or user experience