CommonRoad Control is an open-source toolbox for motion control and dynamic simulation in autonomous driving.
Our toolbox offers various model-based and model-free controllers that are compatible with multiple motion planners
as well as a dynamic simulation with different vehicle dynamics models.
Our toolbox has easy API calls for fast integration in control and motion planning projects and our overall architecture allows for the modular design of custom motion planning and control pairs.
We support Ubuntu>=20.4 and Python>=3.10.
pip install commonroad-controlIf you want to also install supported motion planners, install them manually using, e.g.,
pip install commonroad-reactive-planneror clone CommonRoad-control from source and:
poetry install --with plannerThe CommonRoad Control Documentation offers examples and API documentation. For easy integration in your project, we recommend using either the CommonRoad easy API or follow the step-by-step examples to use our modular parts for your own controller and planner.
Our CommonRoad Control github page contains a mirror of our gitlab source code.
Lukas Schäfer: lukas.schaefer[at]tum.de
Tobias Mascetta: tobias.mascetta[at]tum.de
Sven Pflaumbaum: sven.pflaumbaum[at]tum.de
Gerald Würsching: gerald.wuersching[at]tum.de