RoadLogic

RoadLogic is a logic-based planning and simulation framework for road and traffic scenarios. It synthesizes high-level driving plans using Answer Set Programming (ASP) and supports scenario specifications in OpenSCENARIO 2.1 DSL. The generated plans can be executed and evaluated through CommonRoad and the Frenetix Motion Planner.

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Overview

RoadLogic provides:

• Declarative reasoning for scenario-based planning
• Automatic plan synthesis from OpenSCENARIO 2.1 descriptions
• Execution interface for CommonRoad simulations
• Integration with the Frenetix motion-planning library

Status: Active development — interfaces and APIs may change before the first stable release.

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Installation

Prerequisites

• Ubuntu 22.04.5 LTS (or WSL on Windows)
• make
• git
• pyenv

Setup

git clone https://github.com/figlerg/roadlogic.git
cd roadlogic

# using pyenv
pyenv install 3.10.16
pyenv local 3.10.16
python -m venv venv
source venv/bin/activate

# check
python --version
which python

# pip install
pip install -U pip wheel setuptools
pip install -e ./Frenetix-Motion-Planner   # local submodule
pip install -e .                           # roadlogic itself

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Quick Start

python -m planning.Planner plans --osc2_file examples/my_overtake.osc -n 3 -a # run planning engine standalone
bash experiments_src/exp_001/run.sh # run the experiments with their shell script. see shell script for some make examples

The experiments in the paper are carried out like this: Assume there is an experiment folder EXP with folders EXP/in and EXP/out. Assume further a specification EXP/in/spec.os2. Then you can generate plans, plots, animations, etc like this:

N="$2";                 # number of plans
STEP_LENGTH=1;          # number of discarded plans before selecting the next. has minor impact on model diversity


#  exp_reset_out "$EXP" -> reset the folder by deleting files in EXP/out/

# actual planning module
make generate-osc-scenarios \
    OSC_N="$N" \
    OSC_FILE="$EXP/in/spec.osc" \
    OUTPUT_FOLDER="$EXP/out/cr_simulations" \
    SCENARIOS_FOLDER="$EXP/out" \
    STEP_LENGTH="$STEP_LENGTH" \
    RULE_INJECTION="$EXP/in/rule_injection.lp"


# simulate in commonroad (no visualization)
make execute-all-scenarios \
    SCENARIOS_FOLDER="$EXP/out/cr_scenarios" \
    OUTPUT_FOLDER="$EXP/out/cr_simulations"

# compute metrics for the monitor
make -j 8 \
    SCENARIOS_FOLDER=$EXP/out/cr_scenarios \
    OUTPUT_FOLDER=$EXP/out/cr_simulations \
    compute-selected-metrics-for-all-scenarios

# compute monitoring results with the metrics (witnesses satisfaction)
make generate-summary \
    SCENARIOS_FOLDER="$EXP/out/cr_scenarios" \
    OUTPUT_FOLDER="$EXP/out/cr_simulations" \
    OSC_FILE="$EXP/in/spec.osc"

# just builds a similarity matrix for the generated plans
python commonroad_extensions/simulation_analysis/similarity.py \
    --plans-folder $EXP/out/serialized_models \
    --output-folder $EXP/out/similarity

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Authors & Acknowledgments

• Felix Gigler
• Alessio Gambi
• Dejan Nickovic
• Cristinel Mateis
• Ezio Bartocci

This repository is maintained by Felix Gigler and Alessio Gambi.

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Citation

If you use RoadLogic in academic work, please cite our forthcoming paper:

To be added after acceptance.

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License

• RoadLogic core: BSD 3-Clause License
• OpenSCENARIO 2 grammar and generated parser: MPL-2.0
• Frenetix integration: uses components under LGPL-3.0
• See THIRD_PARTY_NOTICES.md for detailed attributions.

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© 2025 The RoadLogic Developers. Under construction.