CommonRoad Drivability Checker: Simplifying the Development and Validation of Motion Planning Algorithms

Christian Pek, Vitaliy Rusinov, Stefanie Manzinger, Murat Can Uste, Matthias Althoff

Research output: Contribution to conferencePaperpeer-review

25 Citations (Scopus)

Abstract

Collision avoidance, kinematic feasibility, and road-compliance must be validated to ensure the drivability of planned motions for autonomous vehicles. Although these tasks are highly repetitive, computationally efficient toolboxes are still unavailable. The CommonRoad Drivability Checker - an open-source toolbox - unifies these mentioned checks. It is compatible with the CommonRoad benchmark suite, which additionally facilitates the development of motion planners. Our toolbox drastically reduces the effort of developing and validating motion planning algorithms. Numerical experiments show that our toolbox is real-time capable and can be used in real test vehicles.

Original languageEnglish
Pages1013-1020
DOIs
Publication statusPublished - 2020
Externally publishedYes
Event31st IEEE Intelligent Vehicles Symposium, IV 2020 - Virtual, Las Vegas, United States
Duration: 19 Oct 202013 Nov 2020

Conference

Conference31st IEEE Intelligent Vehicles Symposium, IV 2020
Country/TerritoryUnited States
CityVirtual, Las Vegas
Period19/10/2013/11/20

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