Participating in Phase I of the competition is optional. The goal of this phase is to get familiar with the scenarios and prepare the motion planning algorithms for the second phase:

A mix of non-interactive & interactive scenarios is provided in the first phase. Solution trajectories are submitted as XML files. No prizes are awarded in this phase and everyone can participate in the second phase. Scenarios are available for download, and solutions can be uploaded now.

Make sure to select in the CommonRoadSolutionWriter the correct IDs to assign the solution to this competition:

• vehicle_type = VehicleType.FORD_ESCORT
• vehicle_model = VehicleModel.KS
• cost_function = CostFunction.TR1
• The resulting solution ID will start with KS1:TR1.