CommonRoad is an umbrella for several projects within mobility scenario and vehicle description and simulation.
TUM's website provides information about CommonRoad itself.
It focuses on vehicular movements in real street scenarios. However, its fundamental scenario is not limited to this use, if one appropriately reuses it specifically named parameters.
We reuse the scenario definition format and associated concepts in simulation by abstracting their interpretation.The aim is to provide the ability to use a generalized formal framework for online optimization problems.
Our initial product in this direction is that we were able to apply our radiation therapy problem to this framework.
Framework
A CommonRoad scenario consists primarily of lane and obstacle descriptions. Further, it features planning problems to be solved. This is a common situation for any adversarial simulation environment. Thus, it also fits our radiation therapy scenario, where lanes are different safety distance thresholds and the adversarial obstacle car corresponds to the predicted respiratory movement.
The planning problem is the positioning of all beams along the lanes without colliding with the respiratory motion. In turn, other scenarios can be composed from these primitives as well.
The reuse of CommonRoad gives us a defined visual representation of the problem, in addition to the scenario description format. Further, it gives us new extension points to improve our simulation and extend Harmonics Mover to new applications.
For a in-depth reference on the capabilities of CommonRoad scenarios, we refer to:
S. Maierhofer, M. Klischat and M. Althoff, "CommonRoad Scenario Designer: An Open-Source Toolbox for Map Conversion and Scenario Creation for Autonomous Vehicles,"
2021 IEEE International Intelligent Transportation Systems Conference (ITSC), Indianapolis, IN, USA, 2021, pp. 3176-3182, doi: 10.1109/ITSC48978.2021.9564885.
