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) on multi-resolution simulators(e.g., CARLA, SUMO, NS3).

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

OpenCDA Github

Contents:

• Why OpenCDA?
  • Major Components
  • Key Features
  • Planned features in the next version
• OpenCDA Installation
  • Requirements
  • Local Installation
• Quick start
  • 1. Single vehicle testing(w/o perception)
  • 2. Single vehicle testing(w/ perception)
  • 3. Platooning(w/o perception)
  • 4. Cooperative merge and join a platoon(w/o perception)
  • 5. Platoon back-join(w perception)
• OpenCDA Tutorial
  • Codebase Structure
  • Overview
  • Step1: Define the yaml file
  • Step2: Construct scenario
  • Step3: Execute a single step
  • Step4: Keep the simulation loop running
  • Step5: Evaluation
  • Customize your own algorithms
• API Reference
  • opencda.core.sensing.perception package
  • opencda.core.sensing.localization package
  • opencda.core.plan package
  • opencda.core.actuation package
  • opencda.core.common package
  • opencda.core.application.platooning package
  • opencda.customize.ml_libs package
  • opencda.scenario_testing.utils package
  • Module contents

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}
}

Indices and tables

• Index

• Module Index

• Search Page