In recent years, reachability analysis has gained considerable popularity in motion planning and safeguarding of automated vehicles (AVs). While existing tools for reachability analysis mainly focus on general-purpose algorithms for formal verification of dynamical systems, a toolbox tailored to AV-specific applications is not yet available. In this study, we present CommonRoad-Reach, which is a toolbox that integrates different methods for computing reachable sets and extracting driving corridors for AVs in dynamic traffic scenarios. Our toolbox provides a Python interface and an efficient C++implementation for real-time applications. The toolbox is integrated within the CommonRoad benchmark suite and is available at commonroad.in.tum.de.
CommonRoad-Reach: A Toolbox for Reachability Analysis of Automated Vehicles
08.10.2022
2017837 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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