CommonRoad-Reach: A Toolbox for Reachability Analysis of Automated Vehicles

Reachability analysis has gained considerable popularity in motion planning and safeguarding of automated vehicles (AVs). While existing tools for reachability analysis mainly focus on general-purpose algorithms for formal verification of dynamical systems, a toolbox tailored to AV-specific applications is not yet available. The CommonRoad-Reach toolbox

integrates two methods for computing reachable sets, i.e., using polytopic set propagation and graph-based propagation;
extracts driving corridors which can be used as planning constraints for motion planners; and
provides Python and C++ implementations of the algorithms, offering convenient prototyping and real-time computation to the users.

Overview

Changelog

[2022.7]

Added

First release of the toolbox.

Citation

@InProceedings{iraniliu2022commonroad,
   author    = {Irani Liu, Edmond and W\"ursching, Gerald and Klischat, Moritz and Althoff, Matthias},
   booktitle = {Proc. of the IEEE Int. Conf. Intell. Transp. Syst.},
   title     = {{CommonRoad-Reach}: {A} toolbox for reachability analysis of automated vehicles},
   year      = {2022},
   pages     = {1--8}
}

Contact Information

Website: http://commonroad.in.tum.de
Forum: https://commonroad.in.tum.de/forum/c/comonroad-reach/19
Email: commonroad@lists.lrz.de