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av-fuzzer-reimplement's Introduction

AV-Fuzzer

Reimplementation of AV-FUZZER: Finding Safety Violations in Autonomous Driving Systems (2020 ISSRE Reference)

Requirements

apollo 6.0
lgsvl 2021.3
apollo_map: see maps/apollo_map, copy maps/apollo_map/SanFrancisco to /apollo/modules/map/data/SanFrancisco
lgsvl_map: SanFrancisco_correct link:https://wise.svlsimulator.com/maps/profile/12da60a7-2fc9-474d-a62a-5cc08cb97fe8

LGSVL Config

Step1: Add map SanFrancisco_correct from Store to Library. Map link:https://wise.svlsimulator.com/maps/profile/12da60a7-2fc9-474d-a62a-5cc08cb97fe8

Step2: Add an API Only simulation.

Steps:

Step1: Define your scenario config, like configs/config_ds_1.yaml

Step2: python main.py --config [your defined config.yaml]

av-fuzzer-reimplement's People

Contributors

mingfeicheng avatar

Stargazers

avatar Leon avatar avatar slnna avatar avatar Abolfazl Karimi avatar avatar avatar loole avatar dqwn152 avatar Yuntianyi Chen avatar Shilong Li avatar Yuqi Huai avatar avatar Yukuan Yang avatar Victor Crespo avatar jixiang zhou avatar avatar

Watchers

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Forkers

yang-yk mfkiwl crespovictor

av-fuzzer-reimplement's Issues

Supporting Apollo 7.0

Hi @MingfeiCheng,

Thank you so much for providing this implementation! I got further in running the framework but I still could not generate any scenario.

I am running Apollo 7.0. I believe I did everything correctly but the Localization module won't turn on.

Do you know if there are any additional steps needed to make sure the Localization module can be turned on? Or does the overall implementation just not support the newest version of Apollo?

Thank you so much in advance.

Set Lines for Different Driving Scenarios

Hi @MingfeiCheng, thank you for reimplementing of AV-Fuzzer.

I have one question regarding the settings of lines in the scenario file: see ds_1.json#L37. What does each 2D array mean for each line type? And how should I get this array if I want to use different driving scenarios?

Thanks in advance for answering my questions!

The problem of apollo sanfrancisco map

Hello, @MingfeiCheng,
I am very interested in your excellent work. When I try to run the code, I found that the San Francisco map in Apollo is wrong, just like the issue described in ApolloAuto/apollo#14341. I have tried to download the updated .bin map at https://wise.svlsimulator.com/maps/profile/12da60a7-2fc9-474d-a62a-5cc08cb97fe8. However, the problem still exists. Can you tell me how to solve the problem? Welcome to contact me via WeChat at 13146031789. Hope to Wish to hear from you soon.

Best regards，
Yukuan Yang

地图坐标

冒昧又来叨扰了，大神，我想更改一下npc的位置还有数量，请问如何知道地图上的点代表的坐标呢？（您当时定坐标的时候是如何定义的？）
image

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