frenetix-occlusion 2024.1

Frenetix Occlusion-aware Trejectory Validation Framework

Occlusion-aware Trajectory Assessment

🔧 Requirements & Pre-installation Steps

Requirements

The software is developed and tested on recent versions of Linux. We strongly recommend to use Ubuntu 22.04 or higher. For the python installation, we suggest the usage of Virtual Environment with Python 3.10 or Python 3.9 For the development IDE we suggest PyCharm

Pre-installation Steps

1. Make sure that the following dependencies are installed on your system for the C++ implementation:

   • Eigen3
     • On Ubuntu: sudo apt-get install libeigen3-dev
   • Boost
     • On Ubuntu: sudo apt-get install libboost-all-dev
   • OpenMP
     • On Ubuntu: sudo apt-get install libomp-dev
   • python3.10-full
     • On Ubuntu: sudo apt-get install python3.10-full and sudo apt-get install python3.10-dev

2. Clone this repository & create a new virtual environment python3.10 -m venv venv

3. Install the package:

   • Source & Install the package via pip: source venv/bin/activate & pip install -r .
   • Everything should install automatically. If not please write [e-mail].

📈 Test Data

Additional scenarios can be found here.

📇 Contact Info

Korbinian Moller, Professorship Autonomous Vehicle Systems, School of Engineering and Design, Technical University of Munich, 85748 Garching, Germany

Rainer Trauth, Institute of Automotive Technology, School of Engineering and Design, Technical University of Munich, 85748 Garching, Germany

Johannes Betz, Professorship Autonomous Vehicle Systems, School of Engineering and Design, Technical University of Munich, 85748 Garching, Germany

📃 Citation

If you use this repository for any academic work, please cite our code:

• Occlusion-aware Planning

@misc{moller2024overcoming,
      title={Overcoming Blind Spots: Occlusion Considerations for Improved Autonomous Driving Safety}, 
      author={Korbinian Moller and Rainer Trauth and Johannes Betz},
      year={2024},
      eprint={2402.01507},
      archivePrefix={arXiv},
      primaryClass={cs.RO}
}