CommonRoad
The collection of Composable Benchmarks for Motion Planning on Roads (CommonRoad) provides researchers with a means of evaluating and comparing their motion planners. A benchmark consists of a scenario with a planning problem, a vehicle dynamics model, vehicle parameters, and a cost function composing a unique ID. Along with the benchmarks, we provide several tools for motion planning.
Main features:
- CommonRoad Input-Output: Methods to read, write and visualize CommonRoad scenarios and planning problems.
- CommonRoad Scenario Designer: Conversion maps from OpenStreetMap and OpenDRIVE and graphical user interface to edit maps and scenarios manually and to populate the maps with traffic using the traffic simulator SUMO.
- CommonRoad Drivability Checker: Check the drivability of a trajectory, check for collisions, or to perform transformations into curvilinear coordinate systems.
- CommonRoad Route Planner: High-level guidance for motion-planning algorithms and for defining reference paths.
- CommonRoad-Search: Uninformed & informed search algorithms with motion primitives to solve motion planning problems.
- CommonRoad-Reach: Methods for computing reachable sets and extracting driving corridors for automated vehicles in dynamic traffic scenarios.
- CommonRoad-RL: Solve motion planning problems on CommonRoad using reinforcement learning methods, currently based on Stable Baselines.
- CommonRoad-Geometric: Graph-based autonomous driving research, fully customizable data processing pipeline for extracting PyTorch-based graph datasets from traffic scenarios.
- CommonRoad-CriMe: Unified notations, vehicle models, and coordinate systems for criticality measures of autonomous vehicles.
- CommonRoad-OpenSCENARIO-Converter: Automatic traffic scenario conversion between OpenSCENARIO and CommonRoad.
For more details, please refer to the CommonRoad website.
Links
Website: https://commonroad.in.tum.de
Repository: https://github.com/CommonRoad
PyPI: https://pypi.org/user/commonroad
Tool paper: https://ieeexplore.ieee.org/abstract/document/7995802
Contact
Email: commonroad@lists.lrz.de