Eclipse ADORe is a modular software library and toolkit for decision making, planning, control and simulation of automated vehicles. Developed by The German Aerospace Center (DLR) Institute for Transportation Systems.

ADORe powers motion and decision making in research vehicles including FASCar and VIEWCar.

Interfaces for CARLA and SUMO simulation. Built on ROS 2, fully containerized with Docker.

Repository on Github.

ADORe executes complex driving scenarios in real time. The planner computes safe, comfortable trajectories while reacting to dynamic road geometry, lane markings, and surrounding traffic.

The blue corridor shows the planned drivable area. Yellow lane markers define the ego lane boundaries. The vehicle follows the optimal trajectory while respecting all constraints derived from the road network and traffic rules.

Scenarios can be driven in simulation via CARLA or SUMO, or deployed directly onto physical research vehicles.