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

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

doi:10.1109/IV47402.2020.9304544

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 conference › Paper › peer-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 language	English
Pages	1013-1020
DOIs	https://doi.org/10.1109/IV47402.2020.9304544
Publication status	Published - 2020
Externally published	Yes
Event	31st IEEE Intelligent Vehicles Symposium, IV 2020 - Virtual, Las Vegas, United States Duration: 19 Oct 2020 → 13 Nov 2020

Conference

Conference	31st IEEE Intelligent Vehicles Symposium, IV 2020
Country/Territory	United States
City	Virtual, Las Vegas
Period	19/10/20 → 13/11/20

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10.1109/IV47402.2020.9304544

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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.",

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doi = "10.1109/IV47402.2020.9304544",

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AU - Uste, Murat Can

AU - Althoff, Matthias

PY - 2020

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AB - 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.

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Y2 - 19 October 2020 through 13 November 2020

ER -

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

Abstract

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