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

Informatics 6 - Associate Professorship of Cyber Physical Systems

Technical University of Munich

Research output: Contribution to conference › Paper › peer-review

37 Scopus citations

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
Number of pages	8
DOIs	https://doi.org/10.1109/IV47402.2020.9304544
State	Published - 2020
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

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 3 Good Health and Well-being

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10.1109/IV47402.2020.9304544

Cite this

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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.",

author = "Christian Pek and Vitaliy Rusinov and Stefanie Manzinger and Uste, \{Murat Can\} and Matthias Althoff",

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T2 - 31st IEEE Intelligent Vehicles Symposium, IV 2020

AU - Pek, Christian

AU - Rusinov, Vitaliy

AU - Manzinger, Stefanie

AU - Uste, Murat Can

AU - Althoff, Matthias

PY - 2020

Y1 - 2020

N2 - 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.

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.

UR - https://www.scopus.com/pages/publications/85099880090

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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

Conference

UN SDGs

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