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OpenCDA is a generalized framework for fast developing and testing cooperative driving automation applications(e.g., cooperative perception, platooning) as well as autonomous vehicle components(e.g., perception, localization, planning, control) on multi-resolution simulators(e.g., CARLA, SUMO, NS3).

OpenCDA is still under development, and many features are still in the future roadmap. We welcome your contributions!

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.

1. Installation
2. Quick Start
3. Tutorials
4. Python API

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, Jiaqi Ma},
booktitle={2021 IEEE Intelligent Transportation Systems Conference (ITSC)},
year={2021}
}

• Sumo code prototyping
• Clean Sumo code
• Motion prediction module
• Better behavior planning at intersection
• Cooperative Perception application
• Cooperative Localization application

OpenCDA is supported by the UCLA Mobility Lab.
Major developers:

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