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.     «

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 corrido...     »