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OpenCDA

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OpenCDA is an open co-simulation-based research/engineering framework integrated with prototype cooperative driving automation (CDA; see SAE J3216) pipelines as well as regular automated driving components (e.g., perception, localization, planning, control). It not only enables CDA evaluation in a CARLA + SUMO co-simulation environment but also provides a rich library of source codes of CDA research pipelines.

In collaboration with U.S.DOT CDA Research and the FHWA CARMA Program, OpenCDA, as an open-source project, is designed and built to support <strong>early-stage fundamental research </strong> for CDA research and development. Through collaboration with CARMA Collaborative, this tool provides a unique capability to the CDA research community and will interface with the CARMA XiL tools being developed by U.S.DOT to support more advanced simulation testing of CDA Features.

The key features of OpenCDA are:

Users could refer to OpenCDA documentation for more details.

What's New

March 2023

Jan 2023

July 2022

March 2022

Feb 2022

Oct 2021

Major Components

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OpenCDA consists of four major component: <strong>Cooperative Driving System</strong>, <strong>Co-Simulation Tools</strong>, <strong>Data Manager and Repository</strong>, and <strong>Scenario Manager</strong>.

Check the OpenCDA Introduction for more details.

Get Started

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Users Guide

Note: We continuously improve the performance of OpenCDA. Currently, it is mainly tested in our customized maps and Carla town06 map; therefore, we <strong>DO NOT </strong> guarantee the same level of robustness in other maps.

Developer Guide

Contribution Rule

We welcome your contributions.

Citation

If you are using our OpenCDA framework or codes for your development, please cite the following paper:

@inproceedings{xu2021opencda,
 title={OpenCDA: an open cooperative driving automation framework integrated with co-simulation},
 author={Xu, Runsheng and Guo, Yi and Han, Xu and Xia, Xin and Xiang, Hao and Ma, Jiaqi},
 booktitle={2021 IEEE International Intelligent Transportation Systems Conference (ITSC)},
 pages={1155--1162},
 year={2021},
 organization={IEEE}
}

The arxiv link to the paper: https://arxiv.org/abs/2107.06260

Also, under this LICENSE, OpenCDA is for non-commercial research only. Researchers can modify the source code for their own research only. Contracted work that generates corporate revenues and other general commercial use are prohibited under this LICENSE. See the LICENSE file for details and possible opportunities for commercial use.

Contributors

OpenCDA is mainly supported by the UCLA Mobility Lab. <br>

Lab Principal Investigator:

Project Lead: <br>

Team Members:

External Contributor Acknowledgements