| Name | commonroad-reach JSON |
| Version |
2024.1.1
JSON |
| download |
| home_page | None |
| Summary | A Toolbox for Computing Reachable Sets of Automated Vehicles |
| upload_time | 2024-03-23 16:49:23 |
| maintainer | None |
| docs_url | None |
| author | None |
| requires_python | <3.12,>=3.8 |
| license | Copyright (c) 2021, Cyber-Physical Systems Group, Technical University of Munich. All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. * Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
| keywords |
autonomous
vehicles
automated
driving
motion
planning
reachability
analysis
|
| VCS |
|
| bugtrack_url |
|
| requirements |
No requirements were recorded.
|
| Travis-CI |
No Travis.
|
| coveralls test coverage |
No coveralls.
|
# CommonRoad-Reach: A Toolbox for Reachability Analysis of Automated Vehicles
Reachability analysis has gained increasing 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 different methods for computing reachable sets using polytopic set propagation and graph-based propagation;
- provides Python and C++ implementations of the algorithms, thus offering convenient prototyping and real-time computation for the users; and
- extracts driving corridors which can be used as planning constraints for motion planners.
## System Requirements
The software is written in Python 3.10 and C++17, and was tested on Ubuntu 18.04, 20.04 and 22.04.
It should be compatible with later versions.
For building the code, the following minimum versions are required:
* **GCC and G++**: version 10 or above
* **CMake**: version 3.20 or above.
* **Pip**: version 21.3 or above
We further recommend using [Anaconda](https://www.anaconda.com/) to manage your virtual python environment.
## Installation options
We provide two installation options for CommonRoad-Reach: Installation as a Python package or building from source.
1. **Python Package**: Install the python package via `pip` in your Conda environment:
```bash
pip install commonroad-reach
```
2. **Build from source**: To build the project from source and install it in your Conda environment, please refer to the [README_FOR_DEVS](./README_FOR_DEVS.md).
This option is only recommended for advanced users and those who are looking to contribute to the development of CommonRoad-Reach.
## Getting Started
Run the exemplary scripts to compute reachable sets and extract driving corridors.
* To compute reachable sets, run `compute_reachable_set.py`.
* To extract driving corridors, run `extract_driving_corridors.py`.
The outputs will be stored in the `./output/` folder. Default and scenario-specific configurations are stored in the `./configurations/` folder.
## Documentation
The documentation of our toolbox is available on our website: https://cps.pages.gitlab.lrz.de/commonroad-reachable-set/.
In order to generate the documentation via Sphinx locally, run the following commands in the root directory:
```bash
pip install -r ./docs/requirements_doc.txt
cd docs/Sphinx
make html
```
The documentation can then be launched by browsing ``./docs/Sphinx/build/html/index.html/``.
## Citation
If you use our toolbox for your research, please cite our [paper](https://mediatum.ub.tum.de/doc/1684928/1684928.pdf):
```text
@InProceedings{iraniliu2022commonroad,
title = {{CommonRoad-Reach}: {A} toolbox for reachability analysis of automated vehicles},
author = {Irani Liu, Edmond and W\"ursching, Gerald and Klischat, Moritz and Althoff, Matthias},
booktitle = {Proc. of the IEEE Int. Conf. Intell. Transp. Syst.},
pages = {2313--2320},
year = {2022},
}
```
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"description": "# CommonRoad-Reach: A Toolbox for Reachability Analysis of Automated Vehicles\n\nReachability analysis has gained increasing popularity in motion planning and safeguarding of automated vehicles (AVs). \nWhile existing tools for reachability analysis mainly focus on general-purpose algorithms for formal verification \nof dynamical systems, a toolbox tailored to AV-specific applications is not yet available. \nThe CommonRoad-Reach toolbox\n\n- integrates different methods for computing reachable sets using polytopic set propagation and graph-based propagation;\n- provides Python and C++ implementations of the algorithms, thus offering convenient prototyping and real-time computation for the users; and\n- extracts driving corridors which can be used as planning constraints for motion planners.\n\n\n## System Requirements\n\nThe software is written in Python 3.10 and C++17, and was tested on Ubuntu 18.04, 20.04 and 22.04.\nIt should be compatible with later versions.\nFor building the code, the following minimum versions are required:\n * **GCC and G++**: version 10 or above\n * **CMake**: version 3.20 or above.\n * **Pip**: version 21.3 or above\n\nWe further recommend using [Anaconda](https://www.anaconda.com/) to manage your virtual python environment.\n\n\n## Installation options\n\nWe provide two installation options for CommonRoad-Reach: Installation as a Python package or building from source.\n\n1. **Python Package**: Install the python package via `pip` in your Conda environment:\n ```bash\n pip install commonroad-reach\n ```\n\n2. **Build from source**: To build the project from source and install it in your Conda environment, please refer to the [README_FOR_DEVS](./README_FOR_DEVS.md).\nThis option is only recommended for advanced users and those who are looking to contribute to the development of CommonRoad-Reach.\n\n## Getting Started\n\nRun the exemplary scripts to compute reachable sets and extract driving corridors.\n\n* To compute reachable sets, run `compute_reachable_set.py`.\n\n* To extract driving corridors, run `extract_driving_corridors.py`.\n\nThe outputs will be stored in the `./output/` folder. Default and scenario-specific configurations are stored in the `./configurations/` folder.\n\n\n## Documentation\n\nThe documentation of our toolbox is available on our website: https://cps.pages.gitlab.lrz.de/commonroad-reachable-set/.\n\nIn order to generate the documentation via Sphinx locally, run the following commands in the root directory:\n\n```bash\npip install -r ./docs/requirements_doc.txt\ncd docs/Sphinx\nmake html\n```\n\nThe documentation can then be launched by browsing ``./docs/Sphinx/build/html/index.html/``.\n\n\n## Citation\nIf you use our toolbox for your research, please cite our [paper](https://mediatum.ub.tum.de/doc/1684928/1684928.pdf):\n\n```text\n@InProceedings{iraniliu2022commonroad,\n title = {{CommonRoad-Reach}: {A} toolbox for reachability analysis of automated vehicles},\n author = {Irani Liu, Edmond and W\\\"ursching, Gerald and Klischat, Moritz and Althoff, Matthias},\n booktitle = {Proc. of the IEEE Int. Conf. Intell. Transp. Syst.},\n pages = {2313--2320},\n year = {2022},\n }\n```\n",
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"license": "Copyright (c) 2021, Cyber-Physical Systems Group, Technical University of Munich. All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. * Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS \"AS IS\" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.",
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