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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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openpilot_comma/tools/sim
Maxime Desroches db98566084
ci: faster sim test (#33888) 		6 months ago
..
bridge ci: faster sim test (#33888) 6 months ago
lib visionipc: remove RGB support (#33739) 7 months ago
tests ci: faster sim test (#33888) 6 months ago
README.md remove navigation (#32773) 10 months ago
__init__.py Simulator Tests (#24274) 3 years ago
launch_openpilot.sh replace python with python3 (#33303) 8 months ago
rgb_to_nv12.cl sim: Converting RGB frames to NV12 format in OpenCL (#26169) 3 years ago
run_bridge.py fix bash + python3 shebangs (#33287) 9 months ago

README.md

openpilot in simulator

openpilot implements a bridge that allows it to run in the MetaDrive simulator.

Launching openpilot

First, start openpilot.

# Run locally
./tools/sim/launch_openpilot.sh

Bridge usage

$ ./run_bridge.py -h
usage: run_bridge.py [-h] [--joystick] [--high_quality] [--dual_camera]
Bridge between the simulator and openpilot.

options:
  -h, --help            show this help message and exit
  --joystick
  --high_quality
  --dual_camera

Bridge Controls:

  • To engage openpilot press 2, then press 1 to increase the speed and 2 to decrease.
  • To disengage, press "S" (simulates a user brake)

All inputs:

| key  |   functionality       |
|------|-----------------------|
|  1   | Cruise Resume / Accel |
|  2   | Cruise Set    / Decel |
|  3   | Cruise Cancel         |
|  r   | Reset Simulation      |
|  i   | Toggle Ignition       |
|  q   | Exit all              |
| wasd | Control manually      |

MetaDrive

Launching Metadrive

Start bridge processes located in tools/sim:

./run_bridge.py