CommonRoad-CriMe: A Toolbox for Criticality Measures of Autonomous Vehicles
Yuanfei Lin, Matthias Althoff
Abstract
Criticality measures are essential for autonomous vehicles to capture the complexity of the surrounding environment, trigger emergency maneuvers, and verify safety. However, there is currently no publicly available toolbox that allows researchers to use or evaluate a large number of criticality measures on arbitrary traffic scenarios. To address this issue, we present CommonRoad-CriMe, an open-source toolbox for measuring the criticality of autonomous vehicles in a unified framework. Our toolbox covers a wide range of state-of-the-art criticality measures and provides visualized information to facilitate debugging and showcasing. Numerical experiments demonstrate how our toolbox facilitates the comparison of different criticality measures and the analysis of traffic conflicts. Our toolbox is available at commonroad.in.tum.de.