Module costs

evaluation

This module implements cost functions of the Commonroad Benchmark. More details can be found here in the cost function documentation https://gitlab.lrz.de/tum-cps/commonroad-cost-functions/-/blob/master/costFunctions_commonRoad.pdf.

class PartialCostFunction(value)

See https://gitlab.lrz.de/tum-cps/commonroad-cost-functions/-/blob/master/costFunctions_commonRoad.pdf for more details.

A: Acceleration, J: Jerk, Jlat: Lateral Jerk, Jlon: Longitudinal Jerk, SA: Steering Angle, SR: Steering Rate, Y: Yaw Rate, LC: Lane Center Offset, V: Velocity Offset, Vlon: Longitudinal Velocity Offset, O: Orientation Offset, D: Distance to Obstacles, L: Path Length, T: Time, ID: Inverse Duration,

A = 'A'

J = 'J'

Jlat = 'Jlat'

Jlon = 'Jlon'

SA = 'SA'

SR = 'SR'

Y = 'Y'

LC = 'LC'

V = 'V'

Vlon = 'Vlon'

O = 'O'

D = 'D'

L = 'L'

T = 'T'

ID = 'ID'

class CostFunctionEvaluator(cost_function_id: CostFunction, vehicle_type: VehicleType)

classmethod init_from_solution(solution: Solution)

property required_properties

evaluate_pp_solution(cr_scenario: Scenario, cr_pproblem: PlanningProblem, trajectory: Trajectory, draw_lanelet_path=False, debug_plot=False)

Computes costs of one solution for cr_pproblem.

Parameters:

• cr_scenario – scenario

• cr_pproblem – planning problem that is solved by trajectory

• trajectory – solution trajectory

• draw_lanelet_path – optionally visualize the detected lanelet path with respect to whose some parameters for the cost computation are determined (only useful for development).

• debug_plot – show plot in case a trajectory cannot be transformed to curvilinear coordinates.

Returns:

result of evaluation

evaluate_solution(scenario: Scenario, cr_pproblems: PlanningProblemSet, solution: Solution) → SolutionResult

Computes costs for all solutions of a planning problem set.

Parameters:

• scenario – scenario that was solved

• cr_pproblems – planning problem set that was solved

• solution – Solution object that contains trajectories

Returns:

SolutionResult object that contains partial and total costs

class PlanningProblemCostResult(cost_function_id: CostFunction, solution_id: int)

property total_costs: float

add_partial_costs(pcf: PartialCostFunction, cost: float, weight)

class SolutionResult(benchmark_id: str, pp_results: List[PlanningProblemCostResult] = ())

add_results(pp_result: PlanningProblemCostResult)