CommonRoad-Reach
CommonRoad-Reach is a toolbox that integrates different methods for computing reachable sets and extracting driving corridors for automated vehicles in dynamic traffic scenarios.
Installation:
pip install commonroad-reachA minimal example for using the package:
from commonroad_reach.data_structure.configuration_builder import ConfigurationBuilder
from commonroad_reach.data_structure.reach.reach_interface import ReachableSetInterface
from commonroad_reach.utility import visualization as util_visual
# build configuration
# make sure that the "scenarios" directory in your current directory contains the ARG_Carcarana-1_1_T-1 scenario
config = ConfigurationBuilder().build_configuration("ARG_Carcarana-1_1_T-1")
config.update()
# compute reachable sets using reachability interface
reach_interface = ReachableSetInterface(config)
reach_interface.compute_reachable_sets()
# plot computation results
util_visual.plot_scenario_with_reachable_sets(reach_interface)