CommonRoad-Game: A Human-in-the-Loop Simulation Framework for Autonomous Driving
A lightweight human-in-the-loop simulation framework for autonomous driving, tightly integrated with the CommonRoad platform, enabling real-time interaction between human drivers and autonomous vehicles.
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[Submitted on 1 Jul 2026]
Title:CommonRoad-Game: A Human-in-the-Loop Simulation Framework for Autonomous Driving
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Abstract:Motion planning algorithms should be evaluated in human-in-the-loop environments to ensure they produce safe and efficient behaviors during interactions. However, existing simulation platforms often rely on recorded datasets, lack dedicated interfaces for real-time human interaction, or remain weakly integrated with an autonomous driving ecosystem. Moreover, many human-in-the-loop simulators are computationally intensive by design, making them less suitable for rapid prototyping and flexible experimentation in early-stage autonomous driving research. To address these limitations, we present CommonRoad-Game, a lightweight human-in-the-loop simulation framework tightly integrated with the CommonRoad platform, focusing on the systematic testing of motion planners with human participation and the analysis of human driving behaviors in interactive scenarios. We introduce a multi-threaded architecture with a robust synchronization mechanism that aligns simulation time with wall-clock time, enabling deterministic and temporally consistent interaction between autonomous and human-driven vehicles. In addition, the framework provides a scenario generation module that records driving logs, allowing diverse and reproducible test cases to be constructed from human-in-the-loop experiments. Experimental results demonstrate that CommonRoad-Game achieves stable temporal synchronization, supports scalable multi-agent simulation, and seamlessly integrates CommonRoad-compatible motion planners to generate interactive driving scenarios. The source code is publicly available at this https URL.
Comments: 15 pages, 18 figures, 2 tables. Source code: this https URL
Subjects:
Robotics (cs.RO)
Cite as: arXiv:2607.01382 [cs.RO]
(or arXiv:2607.01382v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2607.01382
arXiv-issued DOI via DataCite (pending registration)
Submission history
From: Yunfei Bi [view email] [v1] Wed, 1 Jul 2026 18:42:00 UTC (3,526 KB)
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