A Modular Co-Simulation Framework with Open Source Software and Automotive Standards

Salles, Dominik; Lang, Lukas; Kehrer, Martin; Reuss, Hans-Christian

doi:10.1007/978-3-658-37011-4_18

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2023

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“…There exist several tools publicly available for generating OpenSCENARIO and OpenDRIVE files, such as Open Scenario Editor 7 , scenariogeneration 8 , and MATLAB RoadRunner 9 . For testing and validating autonomous vehicles, OpenSCENARIO can be utilized in simulation platforms like openPASS [31], esmini 10 , and CARLA [32] to execute complex traffic scenarios [33]- [36].…”

Section: A Related Workmentioning

confidence: 99%

Automatic Traffic Scenario Conversion from OpenSCENARIO to CommonRoad

Lin,

Ratzel,

Althoff

2023

2023 IEEE 26th International Conference on Intelligent Transportation Systems (ITSC)

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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.

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