CommonRoad Global Planner: A Toolbox for Global Motion Planning on Roads

Motion planning for autonomous driving depends on or greatly benefits from global information, such as routes, reference paths, and velocity profiles. Existing global planning toolboxes (1) do not use provably unique curvilinear coordinates, (2) are mostly limited to racing scenarios, and (3) are not compatible with large scenario benchmarks. We present CommonRoad Global Planner, an open-source toolbox ¹¹pip install commonroad-global-planner, pip install commonroad-route-planner, pip install commonroad-velocity-plannerwithin the CommonRoad framework for global motion planning on roads, comprising the CommonRoad Route Planner for generating routes and smooth reference paths as well as the CommonRoad Velocity Planner, which implements several algorithms for planning velocity profiles. Our contributions are threefold: (1) our toolbox uses reference paths with provably correct curvilinear coordinates and returns velocity profiles that meet user-specified constraints; (2) the implemented algorithms are compatible with the CommonRoad benchmark suite; and (3) to the best of our knowledge, our toolbox for global planning is the first which is evaluated on large-scale numerical experiments on an open-source benchmark.