A comprehensive introduction to CommonRoad benchmarks can be found in our paper. In short, a benchmark consists of a scenario id, a cost function, and a vehicle model and vehicle type. The solution file has to be uploaded as a formatted XML file adhering to the .xsd schema definition in commonroad_solution_schema.xsd.
A solution file contains the solutions for all planning problems in the scenario. Each planning problem solution can either be specified as a trajectory or as an input vector of the chosen vehicle model. Both types have to specify the id of their planning problem in the planningProblemId attribute. The two solution child element formats are described below.
|Cost function ID||Partial cost functions and weight|
|SA1||(SA|0.1), (SR|0.1), (D|105)|
|WX1||(T|10), (V|1), (A|0.1), (J|0.1), (D|0.1), (LC|10)|
|SM1||(A|50), (SA|50), (SR|50), (LC|1), (V|20), (O|50)|
|SM2||(A|50), (SA|50), (SR|50), (LC|1), (O|50)|
|SM3||(A|50), (SA|50), (SR|50), (V|20), (O|50)|
|MW1||(Jlat|5.0), (Jlong|0.5), (V|50), (ID|1)|
|Model ID||Vehicle Models|
Vehicle inputs are submitted as input vectors for the vehicle model. The default inputVector type inputVector is applicable for all vehicle models except the PointMass model.
Trajectories are submitted as state vectors describing the vehicle state at each time step. Depending on the vehicle model in the planning problem, different trajectory types containing different state vectors need to be selected. We provide a shortened description of the trajectory formats, the full format can be found in the schema definition file.