CommonRoad Scenario Designer: An Open-Source Toolbox for Map Conversion and Scenario Creation for Autonomous Vehicles

Maps are essential for testing autonomous driving functions. Several map and scenario formats are available. However, they are usually not compatible with each other, limiting their usability. In this paper, we address this problem using our open-source toolbox that provides map converters from different formats to the well-known CommonRoad format. Our toolbox provides converters for OpenStreetMap, Lanelet/Lanelet2, OpenDRIVE, and SUMO. Additionally, a graphical user interface is included, which allows one to efficiently create and manipulate CommonRoad maps and scenarios. We demonstrate the functionality of the toolbox by creating CommonRoad maps and scenarios based on other map formats and manually-created map data.