Openpilot in Carla

This repository provides the Openpilot confiuration to integrate with Carla. The setup was originally implemented for safety evaluation purposes using the -almost safe set based methods, but should also be applicable for other purposes. The code base is built upon the original Opepilot-Carla integration from comma.ai with added Radar inputs to enhance the stack's performance.

Environments

1. Openpilot - 0.8.10
2. Carla - 0.9.12
3. SDQ_Tools - 1.0 (source code)

Setup

1. place all python files in openpilot/tools/sim/
2. replace lib folder in openpilot/tools/sim/

Run

# terminal 1
cd $CARLADIR && ./CarlaUE4.sh -nosound -quality-level=Epic -RenderOffScreen -fps=120
# terminal 2
cd $OPENPILOTDIR/tools/sim && ./launch_openpilot.sh
# terminal 3
cd $OPENPILOTDIR/tools/sim && python bridge_<scenarios>.py --low_quality

References

[1] Weng et al. [2021a] (https://ieeexplore.ieee.org/document/9556594)

[2] Weng et al. [2021b] (https://ieeexplore.ieee.org/document/9594685)

[3] Zhong et al. Detecting Safety Problems of Multi-Sensor Fusion in Autonomous Driving (https://arxiv.org/pdf/2109.06404.pdf)

[4] What are the limitations of openpilot Adaptive Cruise Control? (https://comma.ai/vehicles)

[5] The EURO NCAP AEB C2C Test Protocal (https://cdn.euroncap.com/media/56143/euro-ncap-aeb-c2c-test-protocol-v302.pdf)

Citing

@misc{weng2022formal,
      title={A Formal Safety Characterization of Advanced Driver Assist Systems in the Car-Following Regime with Scenario-Sampling}, 
      author={Bowen Weng and Minghao Zhu and Keith Redmill},
      year={2022},
      eprint={2202.08935},
      archivePrefix={arXiv},
      primaryClass={cs.RO}
}