SCTrans

Welcome to the SCTrans repository, which provides tools and scripts supporting our paper "SCTrans: Constructing a Large Public Scenario Dataset for Simulation Testing of Autonomous Driving Systems" accepted at ICSE24. Visit our website for more information and dataset access(See Section Open Source Protocol).

Quickstart

• Source Code:
  • Explore the scenario-runner/ directory for modified versions of Lgsvl & Carla scenario runners.
  • The transformation/ directory contains all code necessary for scenario transformations.
• Docker Container:
  • Download: Access the Docker container here to streamline setup and usage.
  • Instructions: Detailed guidelines on using the Docker container are available in the artifact readme, accessible here.
• [Note] We’ve transitioned away from the VM as the Docker setup is designed to be sufficient.

How to Contribute

We value your contributions to improve SCTrans. Here’s how you can help:

• Code Contributions: Feel free to fork the repository, make your changes, and submit a pull request.
• Issue Reporting: If you encounter issues or have suggestions, please submit them as issues on GitHub.

File Contents

• scenario-runner/ directory contains modified version of Lgsvl & Carla scenario runner
• transformation/ directory contains all code for scenario transformation

Supplemental Source

To complement the SCTrans tools and facilitate integration with popular simulation platforms, the following resources are available:

• LGSVL Simulator Build Local Version:

  A local version of the LGSVL simulator can be accessed here.

• Carla and Autoware Bridge:

  A simulation bridge between Carla and Autoware can be accessed here.

• Carla and Apollo Bridge Reference

  A simulation bridge between Carla and Apollo can be accessed here.

• LGSVL and Autoware Bridge Reference

  A simulation bridge between LGSVL simulator and Autoware can be accessed here.

• LGSVL and Apollo Bridge

  Please refer to the LGSVL PythonAPI repository for more information.

Publication

If you find this repository useful, please consider citing our paper and give this repository a Star🌟.

Paper Link: ICSE24-SCTrans

Paper Citation:

@inproceedings{SCTrans-ICSE-2024,
    author={Jiarun Dai and Bufan Gao and Mingyuan Luo and Zongan Huang and Zhongrui Li and Yuan Zhang and Min Yang},
    booktitle={Proceedings of the 2024 International Conference on Software Engineering},
    title={Constructing a Large Public Scenario Dataset for Simulation Testing of Autonomous Driving Systems},
    year={2024},
}