CommonRoad Raceline Planner
The CommonRoad Raceline Planner combines several algorithms for raceline global trajectory planning for autonomous racing. Our work is based on code of the Indy Racing Team at TU Munich 1,2, namely the groups from Prof. Betz (AVS) and Prof. Lienkamp (FTM) and the following papers 3-6. This toolbox is a collaboration between TUM CPS, AVS and FTM. Featured Planners
Currently, the toolbox features the following planners:
- shortest path planner: plans the shortest path using convex optimization
- minimum curvature planner: plans the path with minimum curvature
Installation:
pip install commonroad-raceline-plannerYou can find the .ini and vehicle constraint files here
from commonroad.common.file_reader import CommonRoadFileReader
from commonroad_raceline_planner.raceline import RaceLine
from commonroad_raceline_planner.raceline_fast_api import generate_ftm_minimum_curvature_raceline_from_cr
scenario, planning_problem_set = CommonRoadFileReader("PATH/TO/YOUR/SCENARIO").open()
planning_problem = list(planning_problem_set.planning_problem_dict.values())[0]
raceline: RaceLine = generate_ftm_minimum_curvature_raceline_from_cr(
cr_scenario=scenario,
planning_problem=planning_problem,
ini_path="PATH/TO/.ini",
ggv_file="PATH/TO/ggv",
ax_max_machines_file="PATH/TO/ENGINECONSTRAINTS",
show_plot=True
)
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