CommonRoad Drivability Checker Logo
  • Getting Started
    • System Requirements
    • Essential Third Party Libraries and Packages
    • Optional Third Party Libraries
    • Installation of the Python interface
      • Method 1: Automatic Installation via Bash Script
      • Method 2: Manual Installation
        • Prerequisites
        • Installation of Essential Third Party Libraries and Packages
        • Installation of Optional Third Party Libraries
        • Installation of the CommonRoad Drivability Checker
    • Installation of the C++ interface
      • Prerequisites
      • Installation of Essential Third Party Libraries and Packages
      • Installation of Optional Third Party Libraries
      • Installation of the CommonRoad Drivability Checker
  • Tutorials
    • 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
        • 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
  • API
    • Module feasibility
      • feasibility_checker
      • solution_checker
      • vehicle_dynamics
    • Module costs
      • evaluation
    • Module boundary
    • Module collision
      • collision_detection
      • trajectory_queries
      • visualization
    • Python Bindings pycrcc
      • Point class
      • RectAABB class
      • RectOBB class
      • Triangle class
      • Circle class
      • Polygon class
      • TimeVariantCollisionObject class
      • ShapeGroup class
      • CollisionChecker class
      • OBBTrajectoryBatch class
    • Python Bindings pycrccosy
      • Segment class
      • CurvilinearCoordinateSystem class
    • C++ Collision Checker Library
CommonRoad Drivability Checker
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