Open Source Python Autonomous Driving Software

openpilot is an open-source driver assistance system designed to improve upon the existing driver assistance of most modern cars today. openpilot gives you Tesla Autopilot-like functionality with functions like Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW) and Lane Departure Warning (LDW). All these with just a push of a button. openpilot also includes a camera-based driver monitoring feature that alerts distracted and asleep drivers while it is engaged. openpilot supports over 85 car makes and models of various years, and the list of supported vehicles continues to grow, including community-supported cars and features. Thousands of drivers have trusted openpilot and have rediscovered the joy of driving again with openpilot. While engaged, openpilot includes camera-based driver monitoring that works both day and night to alert the driver when their eyes are not on the road ahead.

3D visual perception tasks, including 3D detection and map segmentation based on multi-camera images, are essential for autonomous driving systems. In this work, we present a new framework termed BEVFormer, which learns unified BEV representations with spatiotemporal transformers to support multiple autonomous driving perception tasks. In a nutshell, BEVFormer exploits both spatial and temporal information by interacting with spatial and temporal space through predefined grid-shaped BEV queries. To aggregate spatial information, we design spatial cross-attention that each BEV query extracts the spatial features from the regions of interest across camera views. For temporal information, we propose temporal self-attention to recurrently fuse the history BEV information. Our approach achieves the new state-of-the-art 56.9\% in terms of NDS metric on the nuScenes \texttt{test} set, which is 9.0 points higher than previous best arts and on par with the performance of LiDAR-based baseline.

Coach is a python framework that models the interaction between an agent and an environment in a modular way. With Coach, it is possible to model an agent by combining various building blocks, and training the agent on multiple environments. The available environments allow testing the agent in different fields such as robotics, autonomous driving, games and more. It exposes a set of easy-to-use APIs for experimenting with new RL algorithms and allows simple integration of new environments to solve. Coach collects statistics from the training process and supports advanced visualization techniques for debugging the agent being trained. Coach supports many state-of-the-art reinforcement learning algorithms, which are separated into three main classes - value optimization, policy optimization, and imitation learning. Coach supports a large number of environments which can be solved using reinforcement learning.

HighwayEnv is an OpenAI Gym-compatible environment focused on autonomous driving scenarios. It provides flexible simulations for testing decision-making algorithms in highway, intersection, and merging traffic situations.