CommonROAD-OpenSCENARIO Converter

Automatic Traffic Scenario Conversion between OpenSCENARIO and CommonRoad. Currently, only the conversion from OpenSCENARIO to CommonROAD (osc2cr) is developed.

Using the Converter

The recommended way of installation if you only want to use the OpenSCENARIO-CommonROAD Converter (i.e., you do not want to work with the code directly) is to use the PyPI package:

pip install commonroad-openscenario-converter

Development

For developing purposes, we recommend using Anaconda to manage your environment so that even if you mess something up, you can always have a safe and clean restart. A guide for managing python environments with Anaconda can be found here.

• First, clone the repository.
• After installing Anaconda, create a new environment with (>=3.9) and enter it:

$ conda create -n commonroad-py39 python=3.9 -y
$ conda activate commonroad-py39
or
$ source activate commonroad-py39

• Then, install the dependencies with:

$ cd <path-to-this-repo>
$ pip install .
$ conda develop .

• To test the installition, run unittest:

$ cd tests
$ python -m unittest -v

Open Simulation Interface (OSI) and UDP Driver

If you want to use the esmini UDPDriverController in combination with OSI for including external driver models or vehicle simulators, you need to install OSI manually, see here.

Contributors (in alphabetical order by last name)

• Yuanfei Lin
• Michael Ratzel

Documentation

The documentation of our toolbox is available on our website: https://cps.pages.gitlab.lrz.de/commonroad/commonroad-openscenario-converter/.

In order to generate the documentation via Sphinx locally, run the following commands in the root directory:

$ 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/.

Acknowledgments

We would like to extend our heartfelt gratitude to the team behind esmini for their remarkable effort in developing the simulation tool. Specifically, we would like to express our sincere appreciation to Emil Knabe for his invaluable contribution in reviewing and accepting the proposed changes to the esmini interface, and to Sebastian Maierhofer for maintaining the converter from OpenDRIVE to lanelets. We gratefully acknowledge partial financial support by the German Federal Ministry for Digital and Transport (BMDV) within the project Cooperative Autonomous Driving with Safety Guarantees (KoSi).

Citation

If you use commonroad-openscenario-converter for academic work, we highly encourage you to cite our paper:

@inproceedings{Lin2023Osc2Cr,
	author = {Yuanfei Lin, Michael Ratzel, and Matthias Althoff},
	title = {Automatic Traffic Scenario Conversion from {OpenSCENARIO} to {CommonRoad}},
	booktitle = {Proc. of the IEEE Int. Conf. on Intell. Transp. Syst.},
	year = {2023},
	pages= {},
}

If you use this project's code in industry, we'd love to hear from you as well; feel free to reach out to Yuanfei Lin directly.