Welcome to OpenCDA’s documentation!

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) under Co-simulation(CARLA-SUMO).

OpenCDA is a work in progress, and many features are still in the future roadmap. We welcome your contribution and please visit our Github repo for latest release.

OpenCDA source code on Github

Getting Started

• OpenCDA Overview
• Installation
• Quick Start

User Tutorial

• Logic Flow
  • Codebase Structure
  • Overview
  • Step1: Define the yaml file
  • Step2: Construct scenario (CARLA only)
  • Step2: Construct scenario (Co-Simulation)
  • Step3: Execute a single step
  • Step4: Keep the simulation loop running
  • Step5: Evaluation
• Traffic Generation
  • CARLA Traffic Manager
  • Sumo Traffic Management (Co-Simulation)

Developer Tutorial

• Class Design
• Algorithm Customization

Additional Information

• About us
• API Reference

Citing OpenCDA:

If you use OpenCDA in a scientific publication, we would appreciate citations to the following paper:

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

Our paper can be accessed by arxiv: https://arxiv.org/abs/2107.06260

Indices and tables

• Index

• Module Index

• Search Page