Introduction to CommonRoad

Numerical experiments for motion planning of road vehicles require numerous ingredients: vehicle dynamics, a road network, static obstacles, dynamic obstacles and their movement over time, goal regions, a cost function, etc. Providing a description of the numerical experiment precise enough to reproduce it might require several pages of information. Thus, only key aspects are typically described in scientific publications, making it impossible to reproduce results - yet, reproducibility is an important asset of good science.

Composable benchmarks for motion planning on roads (CommonRoad) are proposed so that numerical experiments are fully defined by a unique ID; all required information to reconstruct the experiment can be found on the CommonRoad website. Each benchmark is composed by a vehicle model, a cost function, and a scenario (including goals and constraints). The scenarios are partly recorded from real traffic and partly hand-crafted to create dangerous situations.

We hope that CommonRoad saves researchers time since one does not have to search for realistic parameters of vehicle dynamics or realistic traffic situations, yet having the freedom to compose a benchmark that fits one's needs.

References

CommonRoad is introduced in our paper M. Althoff, M. Koschi, and S. Manzinger, ''CommonRoad: Composable Benchmarks for Motion Planning on Roads,'' in Proc. of the IEEE Intelligent Vehicles Symposium, 2017, pp. 719-726.

  • News

    We have added intersection scenarios featuring the Lankershim Boulevard in Los Angeles, CA. The scenarios are based on recorded data from the NGSIM program and available here.