Tutorials

The following code examples are available as Jupyter Notebooks in tutorials/. To execute the tutorials, run following commands in your terminal:

1. Open your console in the root folder of the CommonRoad Drivability Checker.

2. Activate your environment with

$ conda activate commonroad-py36
$ cd tutorials/
$ jupyter notebook name_of_notebook

Note that you have to replace

• commonroad-py36 with the name of your Anaconda environment.

• name_of_notebook, e.g., with 01_python_wrapper.ipynb.

The basic tutorial (Tutorial 00: Drivability Checker - Getting Started) contains the most important information to get started with our tool. For a more in-depth demonstration of the different features, see our advanced tutorials (Tutorial 01 - 07).

• Tutorial 00: Drivability Checker - Getting Started
  • Load CommonRoad scenario
  • Create ego vehicle trajectory
  • Collision Checking
  • Road-compliance
  • Kinematic feasibility
  • Visualization of planned motion
• Tutorial 01: Python Wrapper
  • 1. Creating Basic Geometric Shapes
  • 2: Performing Collision Checks Between Basic Shapes
  • 3: Creating Groups of Shapes
  • 4: Time-variant Obstacles
  • 5: Creating a Collision Checker
  • 5: Intersection Between Segments and Obstacles
• Tutorial 02: commonroad-io Interface
  • 1. Converting CommonRoad Objects to Collision Objects
  • 2. Creating a Collision Checker from the Scenario
  • 3. Minkowski Sum
• Tutorial 03: road compliance checking
  • 1. Load the scenario
  • 2. Build the road boundary
    • 2.1. Road Boundary Collision Check
    • 2.1.1. Oriented Rectangles (recommended method)
    • 2.1.2. Delaunay Triangulation
    • 2.1.3. Axis-Aligned Triangles (Horizontal)
    • 2.1.4. Axis-Aligned Triangles (Vertical)
  • 2.2. Occupancy Inclusion
    • 2.2.1. Lane Polygons
    • 2.2.2. Lanelet Polygons
    • 2.2.3. Polygons with Holes (Grid)
    • 2.2.4. Polygons with Holes
  • 3. Usage Example: Check if the trajectory is within the road
    • 3.1. Select part of the trajectory for compliance checks
    • Approach 1: Road boundary collision checks
      • Simplified approach (only check if the trajectory collides with the road boundary)
      • Full approach (first check if the vehicle is within the road at the first time step, then check if the trajectory collides with the road boundary)
    • Approach 2: Occupancy Inclusion
  • 4. Usage Example: Minkowski sum for road boundaries
• Tutorial 04: Feasibility Checking Using CommonRoad Vehicle Models
  • 1 Necessary imports
  • 2 Functionalities of the Feasibility Checker
    • 2.1 Forward simulation of inputs
    • 2.2 Checking the feasibility of state transitions
    • 2.3 Checking the feasibility of trajectories
• Tutorial 05: Collision Checks With Dynamic Obstacles
  • 1. Necessary imports and helper functions
  • 2. Collision checks
  • 2.1. Check if trajectory is within the road (static collision checking)
    • Simplified approach (check for the collision of each trajectory with the road boundary)
    • Full approach (check if the vehicle is within the road at the first time step, then check if the trajectory collides with the road boundary)
  • 2.2. Dynamic collision checking
• Tutorial 06: CommonRoad Curvilinear Coordinatesystem
  • 1. Preparation
  • 2. Load CommonRoad scenario
  • 3. Create a reference path for the coordinate system
  • 4. Create the curvilinear coordinate system
  • 5. Project position onto curvilinear frame
  • 6. Compute curvature of reference path
• Tutorial 07: Evaluate solution using cost functions