CommonRoad-Reach: A Toolbox for Reachability Analysis of Automated Vehicles

In recent years, reachability analysis has gained considerable popularity in motion planning and safeguarding of automated vehicles (AVs). While existing tools for reachability analysis mainly focus on general-purpose algorithms for formal verification of dynamical systems, a toolbox tailored to AV-specific applications is not yet available. In this study, we present CommonRoad-Reach, which is a toolbox that integrates different methods for computing reachable sets and extracting driving corridors for AVs in dynamic traffic scenarios. Our toolbox provides a Python interface and an efficient C++implementation for real-time applications. The toolbox is integrated within the CommonRoad benchmark suite and is available at commonroad.in.tum.de.