openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.
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#!/bin/bash
# Sets up a virtual display for running map renderer and simulator without an X11 display
DISP_ID=99
export DISPLAY=:$DISP_ID
sudo Xvfb $DISPLAY -screen 0 2160x1080x24 &
# check for x11 socket for the specified display ID
while [ ! -S /tmp/.X11-unix/X$DISP_ID ]
do
echo "Waiting for Xvfb..."
sleep 1
done