CommonRoad STL Monitor

CommonRoad STL Monitor is a toolbox to evaluate the robustness of model-free and model-predictive robustness on CommonRoad scenarios using signal temporal logic.

Getting Started

Installation

The toolbox is installable as a regular PyPI package:

pip install commonroad-stl-monitor

Additionally, you can install extras like visualization to enable advanced AST visualizations. The visualization requires a working graphiz installation, which you should be able to source from your distros package registry.

pip install commonroad-stl-monitor[visualization]

Example Usage

from commonroad.common.file_reader import CommonRoadFileReader

from crmonitor.common import World
from crmonitor.evaluation import OfflineRuleEvaluator

scenario_path = "../scenarios/test_interstate/DEU_test_safe_distance.xml"

# Open the scenario
scenario, _ = CommonRoadFileReader(scenario_path)

# Create a world state, which is a holder class for intermediate results produced by the monitoring.
# Use the convenience class method to create with default configuration from a scenario.
world = World.create_from_scenario(scenario)

# Create a rule evaluator for the traffic rule 'R_G1'
rule_evaluator = OfflineRuleEvaluator.create_for_rule("R_G1", dt=world.dt)


ego_vehicle = next(iter(world.vehicles))
# Evaluate the robustness across the whole time frame the ego vehicle is defined.
robustness = rule_evaluator.evaluate(world, ego_vehicle.vehicle_id)

Documentation

The full documentation can be found at cps.pages.gitlab.lrz.de/commonroad/commonroad-stl-monitor.