Reachable Set

ReachableSetInterface

ReachableSetInterface class

class commonroad_reach.data_structure.reach.reach_interface.ReachableSetInterface(config)

Interface for reachable set computation.

Parameters

config (Configuration) –

property step_start

property step_end

property drivable_area

property reachable_set

reset(config)

Resets configuration of the interface.

Parameters

config (Configuration) –

drivable_area_at_step(step)

Parameters

step (int) –

reachable_set_at_step(step)

Parameters

step (int) –

compute_reachable_sets(step_start=0, step_end=0)

Computes reachable sets between the given start and end steps.

Parameters

• step_start (int) –

• step_end (int) –

extract_driving_corridors(to_goal_region=False, shape_terminal=None, is_cartesian_shape=True, corridor_lon=None, list_p_lon=None)

Extracts driving corridors within the reachable sets.

Parameters

• to_goal_region (bool) – whether the corridors should intersect with the goal region

• shape_terminal (Optional[Shape]) – a user-specified shape representing the terminal state

• is_cartesian_shape (bool) – whether the shape is given in Cartesian coordinate system

• corridor_lon (Optional[DrivingCorridor]) – a longitudinal driving corridor

• list_p_lon (Optional[List[float]]) – a list of longitudinal positions

Return type

List[DrivingCorridor]

Returns

a list of driving corridors

ReachLine

ReachLine class

class commonroad_reach.data_structure.reach.reach_line.ReachLine(p_lon_min, p_lat_min, p_lon_max, p_lat_max)

Line segment used in geometric operations.

A line segment is formed with two vertices.

Parameters

• p_lon_min (float) –

• p_lat_min (float) –

• p_lon_max (float) –

• p_lat_max (float) –

ReachNode

ReachNode class

class commonroad_reach.data_structure.reach.reach_node.ReachNode(polygon_lon, polygon_lat, step=- 1)

Node within a reachability graph, also used in reachable set computations.

Note

• Each node is a Cartesian product of longitudinal and lateral polygons.

• Curvilinear coordinate system: polygon_lon is a polygon in the longitudinal p-v domain, and polygon_lat is a polygon in the lateral p-v domain.

• Cartesian coordinate system: polygons are in the x-v and y-v domains, respectively.

Parameters

• polygon_lon (ReachPolygon) –

• polygon_lat (ReachPolygon) –

• step (int) –

cnt_id = 0

property polygon_lon: ReachPolygon

Polygon in the longitudinal direction. See note of ReachNode.

Return type

ReachPolygon

property polygon_lat: ReachPolygon

Polygon in the lateral direction. See note of ReachNode.

Return type

ReachPolygon

property p_lon_min

Minimum position in the longitudinal direction.

property p_lon_max

Maximum position in the longitudinal direction.

property v_lon_min

Minimum velocity in the longitudinal direction.

property v_lon_max

Maximum velocity in the longitudinal direction.

property p_lat_min

Minimum position in the lateral direction.

property p_lat_max

Maximum position in the lateral direction.

property v_lat_min

Minimum velocity in the lateral direction.

property v_lat_max

Maximum velocity in the lateral direction.

property p_x_min

Minimum x-position in the Cartesian coordinate system.

property p_x_max

Maximum x-position in the Cartesian coordinate system.

property v_x_min

Minimum x-velocity in the Cartesian coordinate system.

property v_x_max

Maximum x-velocity in the Cartesian coordinate system.

property p_y_min

Minimum y-position in the Cartesian coordinate system.

property p_y_max

Maximum y-position in the Cartesian coordinate system.

property v_y_min

Minimum y-velocity in the Cartesian coordinate system.

property v_y_max

Maximum y-velocity in the Cartesian coordinate system.

clone()

Returns a clone of the reach node.

Return type

ReachNode

update_position_rectangle()

Updates the position rectangle based on the latest position attributes.

translate(p_lon_off=0.0, v_lon_off=0.0, p_lat_off=0.0, v_lat_off=0.0)

Returns a copy translated by input offsets.

Parameters

• p_lon_off (float) –

• v_lon_off (float) –

• p_lat_off (float) –

• v_lat_off (float) –

add_parent_node(node_parent)

Parameters

node_parent (ReachNode) –

remove_parent_node(node_parent)

Return type

bool

Parameters

node_parent (ReachNode) –

add_child_node(node_child)

Parameters

node_child (ReachNode) –

remove_child_node(node_child)

Return type

bool

Parameters

node_child (ReachNode) –

intersect_in_position_domain(p_lon_min, p_lat_min, p_lon_max, p_lat_max)

Perform intersection in the position domain.

Parameters

• p_lon_min (float) –

• p_lat_min (float) –

• p_lon_max (float) –

• p_lat_max (float) –

intersect_in_velocity_domain(v_lon_min, v_lat_min, v_lon_max, v_lat_max)

Perform intersection in the velocity domain.

Parameters

• v_lon_min (float) –

• v_lat_min (float) –

• v_lon_max (float) –

• v_lat_max (float) –

classmethod reset_class_id_counter()

ReachNodeMultiGeneration class

class commonroad_reach.data_structure.reach.reach_node.ReachNodeMultiGeneration(polygon_lon, polygon_lat, step=- 1)

Node within a reachability graph, also used in reachable set computations.

In addition to ReachNode, this class holds lists reach nodes across generations.

Parameters

step (int) –

add_grandparent_node(node_grandparent)

Return type

bool

Parameters

node_grandparent (ReachNodeMultiGeneration) –

remove_grandparent_node(node_grandparent)

Return type

bool

Parameters

node_grandparent (ReachNodeMultiGeneration) –

add_grandchild_node(node_grandchild)

Return type

bool

Parameters

node_grandchild (ReachNodeMultiGeneration) –

position_rectangle: Optional[ReachPolygon]

list_nodes_parent: List[ReachNode]

list_nodes_child: List[ReachNode]

remove_grandchild_node(node_grandchild)

Return type

bool

Parameters

node_grandchild (ReachNodeMultiGeneration) –

ReachPolygon

ReachPolygon class

class commonroad_reach.data_structure.reach.reach_polygon.ReachPolygon(list_vertices, fix_vertices=True)

Polygon class that constitutes reach nodes and position rectangles.

Note

• When used to represent a reach node, it is defined in the position-velocity domain, and can be used to represent a polygon in either the longitudinal or the lateral direction.

• When used to represent a position rectangle, it is defined in the longitudinal/lateral position domain.

Parameters

list_vertices (list) –

property p_min

Minimum position in the position-velocity domain.

property p_max

Maximum position in the position-velocity domain.

property v_min

Minimum velocity in the position-velocity domain.

property v_max

Maximum velocity in the position-velocity domain.

property p_lon_min

Minimum longitudinal position in the position domain.

property p_lon_max

Maximum longitudinal position in the position domain.

property p_lon_center

Center longitudinal position in the position domain.

property p_lat_min

Minimum lateral position in the position domain.

property p_lat_max

Maximum lateral position in the position domain.

property p_lat_center

Center lateral position in the position domain.

property diagonal_squared

Square length of the diagonal of the position domain.

property vertices: List[Tuple[ndarray, ndarray]]

Returns the list of vertices of the polygon.

Return type

List[Tuple[ndarray, ndarray]]

clone(convexify)

Returns a cloned (and convexified) polygon.

Return type

ReachPolygon

Parameters

convexify (bool) –

intersect_halfspace(a, b, c)

Returns the intersection of the polygon and the halfspace specified in the form of ax + by <= c.

Return type

Optional[ReachPolygon]

Parameters

• a (float) –

• b (float) –

• c (float) –

classmethod from_polygon(polygon)

Returns a polygon constructed from the vertices of the given polygon.

Return type

Optional[ReachPolygon]

Parameters

polygon (Polygon) –

static from_rectangle_vertices(p_lon_min, p_lat_min, p_lon_max, p_lat_max)

Returns a polygon given the vertices of a rectangle.

Return type

ReachPolygon

Parameters

• p_lon_min (float) –

• p_lat_min (float) –

• p_lon_max (float) –

• p_lat_max (float) –

static get_vertices(polygon)

Returns the list of vertices of the polygon.

Return type

List[Tuple[ndarray, ndarray]]

Parameters

polygon (Union[Polygon, ReachPolygon]) –

static construct_halfspace_polygon(a, b, c, bounds_polygon)

Returns a polygon representing the halfspace.

Note

General case: First compute two arbitrary vertices that are far away from the x boundary, then compute the slope of the vector that is perpendicular to the vector connecting these two points to look for remaining two vertices required for the polygon construction.

Return type

Polygon

Parameters

• a (float) –

• b (float) –

• c (float) –

• bounds_polygon (Tuple[float, float, float, float]) –

ReachableSet

ReachableSet class

class commonroad_reach.data_structure.reach.reach_set.ReachableSet(config)

Abstract superclass for reachable sets.

Parameters

config (Configuration) –

property drivable_area

property reachable_set

drivable_area_at_step(step)

Parameters

step (int) –

reachable_set_at_step(step)

Parameters

step (int) –

abstract compute(step_start, step_end)

Computes reachable set between the specified start and end steps.

Parameters

• step_start (int) –

• step_end (int) –

classmethod instantiate(config)

Instantiates a reachable set class based on the given configuration.

Parameters

config (Configuration) –

CppReachableSet

CppReachableSet class

class commonroad_reach.data_structure.reach.reach_set_cpp.CppReachableSet(config)

Reachable set computation with C++ backend.

Parameters

config (Configuration) –

compute(step_start, step_end)

Computes reachable set between the specified start and end steps.

Parameters

• step_start (int) –

• step_end (int) –

PyReachableSet

PyReachableSet class

class commonroad_reach.data_structure.reach.reach_set_py.PyReachableSet(config)

Reachable set computation with Python backend.

Parameters

config (Configuration) –

compute(step_start, step_end)

Computes reachable set between the specified start and end steps.

Parameters

• step_start (int) –

• step_end (int) –

PyGraphReachableSetOffline

PyGraphReachableSetOffline class

class commonroad_reach.data_structure.reach.reach_set_py_graph_offline.PyGraphReachableSetOffline(config)

Offline step in the graph-based reachable set computation with Python backend.

Parameters

config (Configuration) –

property path_offline_file

compute(step_start, step_end)

Computes reachable set between the specified start and end steps.

Parameters

• step_start (int) –

• step_end (int) –

create_projection_matrices()

Creates projection matrices.

PyGraphReachableSetOnline

PyGraphReachableSetOnline class

class commonroad_reach.data_structure.reach.reach_set_py_graph_online.PyGraphReachableSetOnline(config)

Online step in the graph-based reachable set computation with Python backend.

Parameters

config (Configuration) –

property max_evaluated_step: int

Return type

int

drivable_area_at_step(step)

Return type

List[ReachPolygon]

Parameters

step (int) –

reachable_set_at_step(step)

Return type

List[ReachNodeMultiGeneration]

Parameters

step (int) –

time_step(time_index)

Converts relative time index (initial time_index = 0) to time_step (initial step = step_start)

Return type

int

Parameters

time_index (int) –

reachset_translation(step)

Translation of initial state at the given step.

Return type

ndarray

Parameters

step (int) –

initialize_new_scenario(scenario=None, planning_problem=None)

Resets online computation for evaluation of new scenario and/or planning problem; thus, avoid time for parsing pickle file again.

Parameters

• scenario (Optional[Scenario]) – new scenario (keep old scenario if None)

• planning_problem ([Optional]) – new planning_problem (keep old planning_problem if None)

compute(step_start=1, step_end=None)

Computes reachable set between the specified start and end steps.

Parameters

• step_start (int) –

• step_end (Optional[int]) –

DrivingCorridor

ConnectedComponent class

class commonroad_reach.data_structure.reach.driving_corridor.ConnectedComponent(list_nodes_reach=None)

Class representing a list of connected ReachNode.

Parameters

list_nodes_reach (List[Union[ReachNode, ReachNode]]) –

cnt_id = 0

DrivingCorridor class

class commonroad_reach.data_structure.reach.driving_corridor.DrivingCorridor

Class representing a sequence of ConnectedComponent.

property step_final

add_connected_component(cc)

Parameters

cc (ConnectedComponent) –

connected_component_at_step(step)

Parameters

step (int) –

connected_components()

reach_nodes()

reach_nodes_at_step(step)

Parameters

step (int) –

DrivingCorridorExtractor

DrivingCorridorExtractor class

class commonroad_reach.data_structure.reach.driving_corridor_extractor.DrivingCorridorExtractor(reachable_sets, config)

Class to extract driving corridors from reachable sets and drivable areas.

Parameters

• reachable_sets (Dict[int, List[Union[ReachNode, ReachNode]]]) –

• config (Configuration) –

property steps

extract(to_goal_region=False, shape_terminal=None, is_cartesian_shape=True, corridor_lon=None, list_p_lon=None)

Extracts driving corridors within the reachable sets.

If a longitudinal DC and a list of positions are given, lateral DCs are extracted. Otherwise, proceed to longitudinal DC extraction. Optionally, one can specify whether the longitudinal DC should reach the goal region of the planning problem or a user-given terminal states represented by a shape.

Parameters

• to_goal_region (bool) – whether a driving corridor should end in the goal region of the planning problem

• shape_terminal (Optional[Shape]) – terminal positions represented by a CR Shape object

• is_cartesian_shape (bool) – flag indicating whether the shape is described in Cartesian coordinate system

• corridor_lon (Optional[DrivingCorridor]) – a longitudinal driving corridor

• list_p_lon (Optional[List[float]]) – a list of positions in the longitudinal direction

Return type

List[DrivingCorridor]

Returns

a list of extracted driving corridors