Trajectory Validation
CommonRoad Drivability Checker
In the drivability checker toolbox, we provide several tools that are commonly used in motion planning. These tools can be used to check the drivability of a trajectory, check for collisions, or to perform transformations into curvilinear coordinate systems.
Tutorial
Tutorial 0: Getting Started
Overview of basic functionalities.
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Tutorial
Tutorial 1: Python Wrapper
Geometric shapes and collision checks.
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pip install commonroad-drivability-checker
Example
from commonroad.common.file_reader import CommonRoadFileReader\nfrom commonroad.common.solution import CommonRoadSolutionReader\nfrom commonroad_dc.feasibility.solution_checker import (\n obstacle_collision,\n boundary_collision,\n solution_feasible,\n)\nfrom commonroad_dc.costs.evaluation import CostFunctionEvaluator\n\n# load scenario ...
Core Library
CommonRoad Input-Output
The CommonRoad Input-Output package provides methods to read, write, and visualize CommonRoad scenarios and planning problems. Furthermore, it can be used as a framework for implementing motion planning algorithms to solve CommonRoad Benchmarks and is the basis of the CommonRoad Framework.
Tutorial
Tutorial 1: Getting Started
Introduction to reading, modifying, and writing CommonRoad files.
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Tutorial
Tutorial 2: Scenario Modification
Reading, modifying, and writing scenarios.
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pip install commonroad-io
Machine Learning
CommonRoad-RL
Training and evaluation environment for reinforcement-learning-based motion planners using CommonRoad tools. This project contains a software package to solve motion planning problems on CommonRoad using reinforcement learning methods, currently based on Stable Baselines.
Navigation
CommonRoad Route Planner
Plan a route from the initial state to the goal lanelet for a given CommonRoad scenario. The route planner provides high-level guidance for motion-planning algorithms and for defining reference paths.
pip install commonroad-route-planner
Scenario Authoring
CommonRoad Scenario Designer
Apart from our scenario database, we provide the CommonRoad Scenario Designer for creating new scenarios. This tool can convert maps from file formats such as OpenStreetMap and OpenDRIVE. Furthermore, it provides a graphical user interface to edit maps and scenarios manually and to populate the maps with traffic using the traffic simulator SUMO.
Tutorial
Tutorial: Aerial Image Background
Adding aerial images to scenarios.
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Tutorial
Tutorial: Scenario Designer API
Using the Scenario Designer API.
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pip install commonroad-scenario-designer
Motion Planning
CommonRoad Search
Search-based motion planner with motion primitives. CommonRoad Search provides a selection of exemplary (un)informed search algorithms with motion primitives to solve motion planning problems.
Simulation
Interactive Scenarios & CommonRoad-SUMO Interface
Interface to traffic simulator SUMO for testing motion-planning algorithms. In interactive scenarios, other traffic participants react to behavior of ego vehicle.
pip install sumocr