CommonRoad Control

CommonRoad Control is an open-source toolbox for motion control and dynamic simulation in autonomous driving. Our toolbox offers various model-based and model-free controllers that are compatible with multiple motion planners as well as a dynamic simulation with different vehicle dynamics models.

Our toolbox has easy API calls for fast integration in control and motion planning projects and our overall architecture allows for the modular design of custom motion planning and control pairs.

:hammer_and_wrench: Installation

We support Ubuntu>=20.4 and Python>=3.10.

pip install commonroad-control

If you want to also install supported motion planners, install them manually using, e.g.,

pip install commonroad-reactive-planner

or clone CommonRoad-control from source and:

poetry install --with planner

:book: Documentation and examples

The CommonRoad Control Documentation offers examples and API documentation. For easy integration in your project, we recommend using either the CommonRoad easy API or follow the step-by-step examples to use our modular parts for your own controller and planner.

:computer: Source code

Our CommonRoad Control github page contains a mirror of our gitlab source code.

Contributors

Lukas Schäfer: lukas.schaefer[at]tum.de
Tobias Mascetta: tobias.mascetta[at]tum.de
Sven Pflaumbaum: sven.pflaumbaum[at]tum.de
Gerald Würsching: gerald.wuersching[at]tum.de