Autonomous Driving System Testing: Traffic Density Does Matter

This repository contains the code for the paper： Autonomous Driving System Testing: Traffic Density Does Matter.

Setup

Download and setup CARLA 0.9.10.1

mkdir carla
cd carla
wget https://carla-releases.s3.eu-west-3.amazonaws.com/Linux/CARLA_0.9.10.1.tar.gz
wget https://carla-releases.s3.eu-west-3.amazonaws.com/Linux/AdditionalMaps_0.9.10.1.tar.gz
tar -xf CARLA_0.9.10.1.tar.gz
tar -xf AdditionalMaps_0.9.10.1.tar.gz
rm CARLA_0.9.10.1.tar.gz
rm AdditionalMaps_0.9.10.1.tar.gz
cd ..

Clone this repo and build the environment

git clone https://github.com/OpenPerceptionX/TCP.git
cd TCP
conda env create -f environment.yml --name TCP
conda activate TCP

export PYTHONPATH=$PYTHONPATH:PATH_TO_TCP

Result

Download our dataset through GoogleDrive. The total size of our dataset is aroung 135G, make sure you have enough space.

Evaluation

First, launch the carla server,

cd CARLA_ROOT
./CarlaUE4.sh --world-port=2000 -opengl

Set the carla path, routes file, scenario file, model ckpt, and data path for evaluation in leaderboard/scripts/run_evaluation.sh.

Start the evaluation

sh leaderboard/scripts/run_evaluation.sh

Citation

Waiting for proceeding

License

All code within this repository is under Apache License 2.0.

Acknowledgements

Our code is based on several repositories:

• TCP
• InterFuser
• CARLA Leaderboard
• Scenario Runner
• Roach