CHANGELOG.md

Changelog

[2024.3] - 2024-12-20

Added

• New Australia and US traffic signs
• New lanelet type: restricted_area
• LaneletNetwork.create_from_lanelet_network now also includes intersections
• Support for Python 3.13
• TR2 cost function enum value

Fixed

• DynamicObstacle cannot be hashed if some optional attributes are missing
• TrafficLightCycle does not invalidate cached cycle init timesteps after modification

[2024.2] - 2024-07-22

Added

• Github actions for ubuntu, windows, and macOS
• Gitlab runner for arm64 ubuntu
• Support for reading xml and protobuf byte streams
• Support for numpy >=2.0
• Adjustable zorder for dynamic obstacle & lanelet visualization

Fixed

• AreaBorder can have multiple adjacent lanelets
• Performance regression for occupancy_set lookups in TrajectoryPrediction
• Matplotlib >=3.9.0 support

Removed

• Support for Python 3.8

[2024.1] - 2024-03-21

Added

• Country-independent traffic sign enum
• Missing country-specific max speed sign IDs
• Automatically generated TrafficSignIDCountries enum for importing in other scripts
• GroundTruthPredictor class to use stored trajectories as prediction
• Function to append a state to a trajectory

Fixed

• Typo: TrafficSigInterpreter → TrafficSignInterpreter
• Typo EMERGENCY_STOP traffic sign enum name
• Activation condition for drawing occupancies
• Traffic sign with first occurrence set to None can be hashed
• Traffic light can be plotted without a TrafficLightCycle

Changed

• Optimization-based planner tutorial now uses planner and predictor interfaces
• Simplified traffic sign matching in FileReader
• The occupancy set, initial time step, and final time step are now computed properties of TrajectoryPrediction
• Trajectory now allows direct access to the state list
• Drawing occupancies by default false
• Improved visual appearance of notebooks

Removed

• Setters for initial and final time step in predictions
• Setter for occupancy_set in TrajectoryPrediction

[2023.4] - 2023-12-19

Added

• Function to convert 3D scenarios to 2D scenarios
• Support for Python 3.12
• Function to retrieve all lanelets referencing a given traffic sign/light
• New line marking types
• Traffic light shape

Fixed

• Conversion to initial state in function create_dynamic_obstacle of solution object

Changed

• Traffic signs for Zamunda now use images of German traffic signs
• Code formatting (flake8, black, isort)

Removed

• Images for Zamunda traffic signs
• Function commonorad.common.util.interpolate_angle

[2023.3] - 2023-09-18

Added

• Type information for lanelet init function
• Dynamic obstacles can now store a history of their states
• Function to update the initial state of a dynamic obstacle while storing the previous state in the history
• Function to update behavior predictions of dynamic obstacles
• Function to find lanelet predecessors in range to lanelet network
• Function to compute all predecessor lanelets starting from a provided lanelet and merge them to a single lanelet for each route.
• Documentation for renderers (including video creation)
• Abstract interfaces for motion planner and prediction for usage in other tools
• New ExtendedPMState to support states with position, velocity, orientation, and acceleration
• Orientation property to PMState
• Hash and equality functions for area

Fixed

• Function create_from_lanelet_network deletes references to removed lanelets
• Write environment time to XML in correct format
• Failing visualization of lanelets, stop lines, traffic signs, and traffic lights with z-coordinate
• Traffic lights now correctly change size in interactive matplotlib plots (only affected matplotlib>=3.7)
• Considering state attributes not part of dataclass definition in state to state conversion
• Enforce InitialState class for initial state property of dynamic obstacle
• Hash function of obstacle

Changed

• Cleanup lanelet, traffic sign, and traffic light references in function create_from_lanelet_list by default
• Equality checks of scenario elements no longer emit a warning on inequality (except if the elements are of different types)

Removed

• Duplicated initial_state property of dynamic obstacle

[2023.2] - 2023-06-26

Added

• Area for modelling drivable areas which cannot be represented by lanelets
• New weather and time of day options
• Allow file reader to determine format based on suffix

Fixed

• Visualization of all traffic signs by setting show_traffic_signs = None in draw parameters
• Validity functions to support z-axis
• Unreferenced traffic signs for lanelet networks filtered by lanelet type

Changed

• Visualization of direction arrow of narrow lanelets
• Traffic light cycle optional
• Traffic light in separate python file
• Allow file reader to determine format based on suffix
• Broaden types allowed as file names
• Open files safely by using a context manager
• Use correct suffix when inferring filename from scenario id

Removed

• function get_default_cycle for traffic lights
• support for Python 3.7

[2023.1] - 2023-03-05

Added

• Support for shapely>=2.0.0

Fixed

• Writing scenarios without location to protobuf
• Dashed lanelet boundaries with fixed dash position
• Default plot limits for focused obstacle
• Use dt from scenario as default for video creation
• Apply axis visible-option also for video creation
• Protobuf FileReader marking road network related IDs as used
• State attribute comparison

Changed

• Name of SIDEWALK and BUSLANE traffic signs to PEDESTRIAN_SIDEWALK and BUS_LANE
• Packaging and dependency management using poetry

[2022.3] - 2022-11-16

Added

• Drawing parameters as dataclasses (support for context help)
• Documentation for drawing parameters
• Support for Python 3.11
• Function to convert a state into a 1D-numpy array
• Progress bar for video creation
• Callback for modifying axes during plotting a video

Changed

• Name of position in lateral and longitudinal state

Removed

• ParamServer and dictionary specification of drawing parameters

Fixed

• Failing visualization of a trajectory at it's initial time step
• Broken lanelet visualization with matplotlib >3.5

[2022.2] - 2022-09-03

Added

• Function for getting lanelet orientation closest to a given position
• Function for getting most likely lanelet given an obstacle state
• Function for erasing lanelet network from scenario
• Function for replacing lanelet network of a scenario with new one
• Support for Protobuf format
• Predefined classes for specific states, point-mass model, kinematic single-track model, etc.
• Function for computing shape group occupancy from state
• Support for kinematic single-track model with one on-axle trailer
• Three new lanelet types: parking, border, and restricted

Changed

• Move tests, tutorial, and documentation folder to root directory
• State classes in separate Python file

Removed

• setter method for lanelet network in scenario class

Fixed

• Default constructor for ScenarioID produces invalid Benchmark ID
• Changeable state list leads to inconsistent final time step of trajectory
• Various small bug fixes

[2022.1] - 2022-04-05

Added

• Video creation with custom draw parameters
• Obstacle icon with custom color

Changed

• Remove support for Python 3.6

Fixed

• Side-effect circle and rectangle init functions
• Parsing solution files with old time format
• Invalid lanelet occupancy computation using buffered polygons
• Various small bug fixes

[2021.4] - 2021-12-21

Added

• Polyline utility functions, e.g., resampling, path length, orientation, curvature, intersection
• __eq__ and __hash__ functions for LaneletNetwork and related classes (e.g., traffic sign, traffic light, stop line, etc.)
• Compatibility for Shapely 2.0
• New traffic signs for Germany

Changed

• License switched to BSD-3
• Date in solution file now stored in the dateTime format (%Y-%m-%dT%H:%M:%S)

Fixed

• Various small bug fixes

[2021.3] - 2021-09-21

Added

• Spatial indexing via STRTree in LaneletNetwork for faster computation of lanelet queries via positions or shapes

Changed

• The function LaneletNetwork.create_from_lanelet_network accepts now a shape and set of lanelet types which should be excluded
• Shapely polygon for lanelets is created by default
• Function convert_to_polygon() within Lanelet class is deprecated and will be removed in the next release

Fixed

• Various small bug fixes

[2021.2] - 2021-07-01

Added

• Parameter draw_params={"focus_obstacle_id": obstacle_id} focuses the plot or video on a dynamic_obstacle
• About 150 new traffic signs from Germany, Spain, and US added
• added new cost function TR1 to SolutionWriter

Fixed

• Various small bug fixes

[2021.1] - 2021-04-23

Added

• Support for over 50 new traffic signs from Germany
• Support of phantom obstacles
• New visualization module which supports MVC pattern
• Functions for adding and removing traffic signs, traffic lights, and intersections from a scenario or lanelet network
• New icon visualization interface and new icons for bus, truck, and bicycle (developed by Simon Sagmeister - TUM FTM)

Changed

• Scaling of traffic signs is coupled with the zoom level

Fixed

• Various small bug fixes

[2020.3] - 2020-10-30

Added

• Support of environment obstacles, e.g. buildings
• Several new traffic signs
• New ScenarioID class for the representation of benchmarks
• New line marking types unknown and no_marking
• Crossings for intersections

Changed

The creation of lanelet assignments for obstacles is now optional. This decreases the loading time of scenarios. The lanelet assignment can still be performed manually after loading a scenario.

Fixed

• Docstrings for properties
• Autoscaling visualization when plotting trajectories.
• Function generate_object_id works now if no element has been added before and reserves ID if object will be added later
• Runtime warning during calls to find_lanelet_by_position
• Various small bug fixes

[2020.2] - 2020-04-14

Changed

• Traffic signs are not visualized by default

Added

• new tags for compatibility with 2018b XML format
• new lanelet types: unknown and interstate

Fixed

• Various small bug fixes

[2020.1] - 2020-04-08

Added

• Support of 2020a Scenarios with TrafficLights, TrafficSigns, and Intersection objects
• SignalStates store information on turn lights, horn, hazard lights, and blue lights of DynamicObstacles
• New Solution object simplifies creating solution xml files and automatically checks the validity of benchmark IDs
• GeoTransformation object stores location and transformation information for lanelet networks extracted from the real world

###Changed

• SolutionReader can now read solution files generated by the CommonRoadSolutionReader
• CommonRoadSolutionWriter can directly write computation times and the CPU model into the solution file
• Visualization is improved and now supports legends

Fixed

• Various small bug fixes

Removed

• The old commonroad.common.solution_writer.CommonRoadSolutionWriter is deprecated and replaced by commonroad.common.solution.CommonRoadSolutionWriter

[2019.2] - 2019-06-27

Changed

• Increased decimal precision of file writer when lanelets join into or split from other lanelets
• Minimum of 3 points per lanelet border are required

Fixed

• File writer writes goal lanes correctly
• LaneletNetwork/find_lanelet_by_id returns None instead of an error if it's not contained in network

[2019.1] - 2019-05-21

Added

• Initial version