Skip to content

Introduction

CommonRoad IDM Planner

logo_crimd_optimized.png

The CommonRoad IDM Planner toolbox contains several simple planning algorithms based on the Intelligent Driver Model (IDM). The primary use case is to have a simple and established baseline planner to benchmark your work against.

Overview

The implemented planner uses the concept of path-velocity-decomposition: first a path is planned and, then, a velocity profile is generated to avoid (dynamic) obstacles

By default, the planner uses the reference path planning module implemented in CommonRoad-Route-Planner to generate the path on which, subsequently, a modified version of the Intelligent Driver Model (IDM) [1] is used to perform velocity planning.

In standard configuration, the planner only avoids dynamic obstacles, as it would wait indefinitely for static obstacles.

Example

Highway

Installation

This tool is available as pypi package using:

pip install commonroad-idm-planner

If you want to build it from source, make sure that you use the correct g++ version, as this is one fixed version for all CommonRoad C++ project (e.g. the CommonRoad Curvilinear Coordinate System and the CommonRoad Drivability Checker).

Documentation and Examples

The documentation can be found here. A module for standard use cases enables effortless integration.

Integrated Models

  • Intelligent Driver Models (IDM) [1]

Author

Tobias Mascetta: tobias.mascetta[at]tum.de

Source Code and Contribution

The original source code lives in a private gitlab repo. The official branches are mirrored to the CommonRoad github. You can still issue pull requests, though, if you wish to contribute microscopic simulations. Physical review E, 62(2), 1805.