bufuzhou / carla-acc

Runtime Verification of Autonomous Driving Systems in CARLA

Adaptive Cruise Control System (ACC) in the CARLA Simulator

This repository contains the files that were extended in the CARLA Simulator in order to implement an ACC system. This system was used to experiment with the runtime verification approach proposed in "Runtime Verification of Autonomous Driving Systems in CARLA" (to be published in RV2020 by E. Zapridou, E. Bartocci, P. Katsaros).

ACC extension

In the folder ACC you can find the files that were extended to implement the ACC system. The paths of these files are the following:

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/WheeledVehicleAIController.h
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/WheeledVehicleAIController.cpp

Additionally, the functionality of enabling/disabling the ACC system using the Python API was added. You can find the files that were extended to add this functionality in the folder enable-disable ACC. Their paths are the following:

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.h
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp
LibCarla/source/carla/client/detail/Client.h
LibCarla/source/carla/client/detail/Client.cpp
LibCarla/source/carla/client/detail/Simulator.h

If you have already built CARLA and wish to add this ACC extension, please replace the original CARLA files with the ones found in these two folders and build again the simulator and the Python API.

make launch
make PythonAPI

Runtime monitoring

The script "acc_runtime_monitoring.py" is used to implement the rtamt library in order to monitor the ACC system in runtime. The requirement to be checked by the monitor is set as a constant inside the script.