commonroad-scenario-designer 0.6.1

Toolbox for Map Conversion and Scenario Creation for Autonomous Vehicles

CommonRoad Scenario Designer

This toolbox provides map converters for OpenStreetMap (OSM), Lanelet / Lanelet2, OpenDRIVE, and SUMO to the CommonRoad (CR) format and for some formats vice versa.
Additionally, a graphical user interface (GUI) is included, which allows one to efficiently create and manipulate CommonRoad maps and scenarios.

Tool	Path	Functionality
OpenDRIVE => CR	crdesigner/map_converter/opendrive	Conversion from OpenDRIVE to CommonRoad.
Lanelet/Lanelet2 <=> CR	crdesigner/map_converter/lanelet2	Conversion from Lanelet2 to CommonRoad and from CommonRoad to Lanelet
OSM => CR	crdesigner/map_converter/osm2cr	Conversion from OSM to CommonRoad.
SUMO <=> CR	crdesigner/map_converter/sumo_map	Conversion from SUMO to CommonRoad and vice versa.
CR Scenario Designer GUI	crdesigner/input_output/gui	Multi-functional GUI for map conversion and scenario creation/editing.

Prerequisites and Installation

The usage of the Anaconda Python distribution is recommended. We have tested the toolbox with Python 3.7, 3.8, and 3.9. You need the following modules:

• commonroad_io >= 2021.4
• matplotlib >= 3.1.0
• numpy >= 1.16.4
• ordered-set >= 4.0.2
• lxml >= 4.3.4
• pyproj >= 2.2.0
• scipy >= 1.3.0
• mercantile >= 1.1.3
• utm >= 0.5.0
• PyQt5 >= 5.12.2
• shapely>=1.7.0
• sumocr>=2021.5
• ordered-set>=4.0.2
• enum34>=1.1.10
• iso3166>=1.0.1
• networkx>=2.5

From you Anaconda environment. For all the packages, we recommend to use the provided requirements.txt:

pip install -r requirements.txt

If you want to use the SUMO conversion or to generate traffic using SUMO, please install SUMO:

sudo apt-get update
sudo apt-get install sumo sumo-tools sumo-doc
echo "export SUMO_HOME=/usr/share/sumo" >> ~/.bashrc
echo 'export PYTHONPATH="$SUMO_HOME/tools:$PYTHONPATH"' >> ~/.bashrc

If you use zsh, replace .bashrc with .zshrc. To install the CommonRoad Scenario Designer from PyPI, please execute the following command:

pip install commonroad-scenario-designer

To install the CommonRoad Scenario Designer from source, please execute the following command:

pip install -e .

We will soon publish the toolbox on PyPI.

Common Errors during installation

Ubuntu

• Could not load the Qt platform plugin “xcb” in “” even though it was found: Error seems to be a missing package - either libxkbcommon-x11 or libxcb-xinerama0 (both can be installed by sudo apt install [package_name]). See for reference here

Usage

We provide different types of usage for the CommonRoad Scenario Designer. Subsequently, we present for each component the different usage methods.

GUI

Within the GUI, you can also execute the different converters. The GUI can either be activated via a Python API, command line, or executing a Python script.

Python Script

First you need to activate your python environment with the installed dependencies (we assume the environment is called commonroad).
Afterward, you can start the CommonRoad Scenario Designer and the GUI will open:

$ conda activate commonroad
# Run CR Scenario designer
$ python crdesigner/start_gui.py

Command Line

The GUI can be started from command line via the following two options:

$ crdesigner
$ crdesigner gui

Note that you have to activate first the Python environment in which the CommonRoad Scenario Designer is installed.

Map Converters

You can execute the different converters either via command line, calling them within your Python program via an API, or the GUI.

API

The main APIs to execute the pure conversions are located under crdesigner/map_conversion/map_conversion_interface.py.
For many conversions we provide further APIs, e.g., for downloading a map from OSM.

Command Line

Note that you have to activate first the Python environment in which the CommonRoad Scenario Designer was installed.
Converting a file from OpenDRIVE to CommonRoad with the command line:

crdesigner [mode] -i [input_file] -o [output_file] -c -f -t [tags] --proj [proj-string] --adjacencies --left-driving --author --affiliation

For a description of the command line arguments please execute

crdesigner -h

GUI

The GUI provides a toolbox with which contains functionality to load maps given in formats other the CommonRoad format
and to convert CommonRoad maps to other formats or the other formats to the CommonRoad format.

Important information

When converting OSM maps, missing information such as the course of individual lanes is estimated during the process.
These estimations are imperfect (the OSM maps as well) and often it is advisable to edit the scenarios by hand via the GUI.

Tutorials

We also provide tutorials demonstrating how the different map converter APIs can be used.
The tutorials include a jupyter notebook and exemplary Python scripts for each conversion.

Documentation

To generate the documentation from source, first install the necessary dependencies with pip:

pip install -r docs/doc_requirements.txt

Afterward run:

cd docs && ./docs_build_script.sh

The documentation can be accessed by opening doc/_build/html/index.html.
The titles of module pages have to be set manually!
The full documentation of the API and introducing examples can also be found here.

Changelog

Compared to version 0.6.1, the following things have been added, fixed or changed:

• GUI setting for axis visibility not changeable
• OpenDRIVE conversion endless loop speed limit mapping
• Yaml configuration loading under Windows

A detailed overview about the changes in each version is provided in the Changelog.

Bug and feature reporting

This release (v0.6.1) is still a BETA version.
In case you detect a bug or you want to suggest a new feature, please report it in our forum.
If you want to contribute to the toolbox, you can also post it in the forum or contact Sebastian Maierhofer.

Authors

Responsible: Sebastian Maierhofer, Sebastian Mair Contribution (in alphabetic order by last name): Daniel Asch, Hamza Begic, Florian Braunmiller, Tim Dang, Behtarin Ferdousi, Maximilian Fruehauf, Marcus Gabler, Fabian Hoeltke, Aaron Kaefer, David Le, Gustaf Lindgren, Benjamin Orthen, Luisa Ortner, Louis Pröbstle, Benedikt Reinhard, Maximilian Rieger, Til Stotz, Stefan Urban

Credits

We gratefully acknowledge partial financial support by

• DFG (German Research Fundation) Priority Program SPP 1835 Cooperative Interacting Automobiles
• BMW Group within the Car@TUM project
• Central Innovation Programme of the German Federal Government under grant no. ZF4086007BZ8

Citation

If you use our code for research, please consider to cite our paper:

@inproceedings{Maierhofer2021,
	author = {Sebastian Maierhofer, Moritz Klischat, and Matthias Althoff},
	title = {CommonRoad Scenario Designer: An Open-Source Toolbox for Map Conversion and Scenario Creation for Autonomous Vehicles},
	booktitle = {Proc. of the IEEE Int. Conf. on Intelligent Transportation Systems },
	year = {2021},
	abstract = {Maps are essential for testing autonomous driving functions. Several map and scenario formats are 
                    available. However, they are usually not compatible with each other, limiting their usability.  
                    In this paper, we address this problem using our open-source toolbox that provides map converters  
                    from different formats to the well-known CommonRoad format. Our toolbox provides converters for 
                    OpenStreetMap, Lanelet/Lanelet2, OpenDRIVE, and SUMO. Additionally, a graphical user interface is 
                    included, which allows one to efficiently create and manipulate CommonRoad maps and scenarios. 
                    We demonstrate the functionality of the toolbox by creating CommonRoad maps and scenarios based on 
                    other map formats and manually-created map data.},
}

If you use the OpenDRIVE to CommonRoad conversion for your paper, please consider to additionally cite the corresponding paper:

@inproceedings{Althoff2018b,
	author = {Matthias Althoff and Stefan Urban and Markus Koschi},
	title = {Automatic Conversion of Road Networks from OpenDRIVE to Lanelets},
	booktitle = {Proc. of the IEEE International Conference on Service Operations and Logistics, and Informatics},
	year = {2018},
	abstract = {Detailed road maps are an important building block for autonomous driving. They accelerate creating a 
	            semantic environment model within the vehicle and serve as a backup solution when sensors are occluded 
	            or otherwise impaired. Due to the required detail of maps for autonomous driving and virtual test 
	            drives, creating such maps is quite labor-intensive. While some detailed maps for fairly large regions 
	            already exist, they are often in different formats and thus cannot be exchanged between companies and 
	            research institutions. To address this problem, we present the first publicly available converter from
	            the OpenDRIVE format to lanelets—both representations are among the most popular map formats. 
	            We demonstrate the capabilities of the converter by using publicly available maps.},
}