CommonRoad: Composable benchmarks for motion planning on roads

503 citations recorded by the source corpus.

How researchers see this paper

The researchers whose trusted networks rank it highest, strongest advocate first. Every researcher gets a different order.

A Survey of Autonomous Driving: Common Practices and Emerging Technologies (2019, background): “are referred to sources for details of the datasets. DDD17 [89] around 12 hours of driving data is recorded. The LiVi-Set [281] is a new dataset that has lidar, image and driving behavior. CommonRoad [294] is a new benchmark for motion-planning. Naturalistic driving data is another type of dataset t”
Parting with Misconceptions about Learning-based Vehicle Motion Planning (2023, background): “nuPlan constructs a simulated environment as closely as possible to a real-world driving setting through data-driven simulation [53, 54, 55, 56, 57, 58, 59].”
Survey on Scenario-Based Safety Assessment of Automated Vehicles (2020, background): “The Commonroad Framework [44], which includes not only scenarios but also models and cost functions, seems to be a good starting point for benchmarking.”
A Review of Motion Planning for Highway Autonomous Driving (2020, background): “thanks to the open source scenario library developed by [196]”
Safe Control With Learned Certificates: A Survey of Neural Lyapunov, Barrier, and Contraction Methods for Robotics and Control (2022, methodology): “We use the single-track car model from the CommonRoad benchmarks [89].”