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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 alg
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.
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.