OpenSCENARIOからCommonRoadへの自動交通シナリオ変換
Automatic Traffic Scenario Conversion from OpenSCENARIO to CommonRoad
自動運転のシナリオ記述形式OpenSCENARIOをCommonRoad形式へ変換する初のオープンソースコンバータを開発し、公開シナリオで有効性を検証した。
著者: Yuanfei Lin, Michael Ratzel, Matthias Althoff
分類: cs.RO, cs.FL, cs.SE
原文アブストラクト
Scenarios are a crucial element for developing, testing, and verifying autonomous driving systems. However, open-source scenarios are often formulated using different terminologies. This limits their usage across different applications as many scenario representation formats are not directly compatible with each other. To address this problem, we present the first open-source converter from the OpenSCENARIO format to the CommonRoad format, which are two of the most popular scenario formats used in autonomous driving. Our converter employs a simulation tool to execute the dynamic elements defined by OpenSCENARIO. The converter is available at commonroad.in.tum.de and we demonstrate its usefulness by converting publicly available scenarios in the OpenSCENARIO format and evaluating them using CommonRoad tools.
