OpenCDA is a generalized framework for fast prototyping cooperative driving automation applications(e.g., cooperative perception, platooning) as well as autonomous vehicle components(e.g., perception, localization, planning, control) under Co-simulation(CARLA and SUMO).

The key features of OpenCDA can be summarized as CIFMB:

• Connectivity and Cooperation: OpenCDA supports various levels and categories of cooperation between CAVs in simulation. This differentiates OpenCDA with other single vehicle automation tools.
• Integration: OpenCDA integrates CARLA and SUMO together for realistic scene rendering, vehicle modeling and traffic simulation.
• Full-stack System: OpenCDA provides a full-stack software system that contains perception, localization, planning, control, and V2X communication modules.
• Modularity: OpenCDA is highly modularized, enabling users to conveniently replace any default algorithms or protocols with their own customzied design.
• Benchmark: OpenCDA offers benchmark testing scenarios, state-of-the-art benchmark algorithms, and benchmark evaluation metrics.

Users could refer to OpenCDA documentation to see more details.

OpenCDA is composed of three major component: Cooperative Driving System, Co-Simulation Tools, and Scenario Manager.

Check the OpenCDA Introduction for more details.

• Overview
• Installation
• Quick Start
• Logic Flow
• Traffic Generation

Note: We are keeping improving the performance of OpenCDA. Currently, it is mainly tested in our 2-lane highway customized map and Carla town06 map, therefore, we DO NOT guarantee the same level of robustness in other maps.

• Class Design
• Customize Your Algorithms
• API Reference
  

We welcome your contributions.

• Please report bugs and improvements by submitting issues.
• Submit your contributions using pull requests. Please use this template for your pull requests.

If you are using our framework for your development, please cite the following paper:

@inproceedings{xu2021opencda,
title={OpenCDA:  An  Open  Cooperative  Driving  Automation  Framework
Integrated  with  Co-Simulation},
author={Runsheng Xu, Yi Guo, Xu Han, Xin Xia, Hao Xiang, Jiaqi Ma},
booktitle={2021 IEEE Intelligent Transportation Systems Conference (ITSC)},
year={2021}
}

And the arxiv link to the paper: https://arxiv.org/abs/2107.06260

OpenCDA is supported by the UCLA Mobility Lab.

Runsheng Xu (linkedin, github)

• Runsheng Xu(linkedin, github)
• Xu Han(linkedin, github)
• Hao Xiang(linkedin, github)

• Dr. Yi Guo(linkedin)
• Dr. Xin Xia(linkedin)

• Dr. Jiaqi Ma(linkedin, google scholar)