Automatic Traffic Scenario Conversion from OpenSCENARIO to CommonRoad
arXiv:2305.10080 · doi:10.1109/ITSC57777.2023.10422422
Abstract
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.
arXiv comment6 pages, 4 figures, ITSC 2023 accepted
References in corpus (4)
- INTERACTION Dataset: An INTERnational, Adversarial and Cooperative moTION Dataset in Interactive Driving Scenarios with Semantic Maps
- Scenic: A Language for Scenario Specification and Scene Generation
- SceML - A Graphical Modeling Framework for Scenario-based Testing of Autonomous Vehicles
- Posetal Games: Efficiency, Existence, and Refinement of Equilibria in Games with Prioritized Metrics