CommonRoad-SUMO interface documentation

Testing motion planning algorithms for automated vehicles in realistic simulation environments accelerates their development compared to performing real-world test drives only. In this work, we combine the open-source microscopic traffic simulator SUMO with our software framework CommonRoad to test motion planning of automated vehicles. Since SUMO is not originally designed for simulating automated vehicles, this interface is designed for exchanging the trajectories of vehicles controlled by a motion planner and the trajectories of other traffic participants between SUMO and CommonRoad.

To run interactive scenarios fr the CommonRoad database, please use the scripts provided in this repository https://gitlab.lrz.de/tum-cps/commonroad-interactive-scenarios.

More about the interface can be found in our paper:

Moritz Klischat, Octav Dragoi, Mostafa Eissa, and Matthias Althoff, Coupling SUMO with a Motion Planning Framework for Automated Vehicles, SUMO 2019: Simulating Connected Urban Mobility

User manual

Contents:

• Installation
  • Prerequisites
  • Installation
• Examples
  • Usage
  • Sumo Simulation Backends
  • Logging
• sumocr package
  • Subpackages
  • Submodules
  • sumocr.helpers module
  • Module contents

Changelog

Changes compared to version 2021.4:

• improved speed of the SUMO co-simulation

• removed map conversion function that are now available in the commonroad scenario designer

Indices and tables

• Index

• Module Index

• Search Page

Contact information

Website:

http://commonroad.in.tum.de

Email:

commonroad@lists.lrz.de