In recent years, reachability analysis has gained increasing 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 paper, we present CommonRoad Reach, which integrates different methods for computing reachable sets as well as extracting driving corridors for AVs in dynamic road scenarios. Our toolbox offers a Python interface and an efficient C++ implementation for real-time applications. The toolox is integrated within the CommonRoad benchmark suite and is available at https://commonroad.in.tum.de/.     «

In recent years, reachability analysis has gained increasing 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 paper, we present CommonRoad Reach, which integrates different methods for computing reachable sets as well as extracting driving corridors for AV...     »