Installation

ADSoS has been tested with:

• Carla 0.9.15
• Python 3.8
• Ubuntu 24.04

Prerequisites

• Carla 0.9.15
• Python 3.8

Python 3.8

Install the pyenv application via your package manager, e.g.

sudo apt install pyenv

Install Python 3.8 using pyenv:

pyenv install 3.8

Open a shell using Python 3.8:

pyenv shell 3.8

Carla

Set up and install Carla 0.9.15 according to its instructions

Installing ADSoS

Using git, clone the ADSoS repository:

git clone git@github.com:MILeach/ADSoS-new.git

Change directory into the ADSoS repository:

cd ADSoS

Pull in the PCLA submodule:

git submodule update

Set up PCLA according to its instructions

Running the Examples

Four examples are available:

• adsos_determinism_check.py Runs the same vehicle configuration and scenario multiple times, logging the results and checking that there are no differences between the produced results
• adsos_route_file_determinism.py Runs the same vhicle configuration and scenario multiple times, loggin the results and checking that there are no differences between the produced results files. Equivalent to the above example, except this uses a supplied route file rather than spawn and end points for each ego vehicle
• adsos_environment_matrix.py Runs the same vehicle configuration with an automatically generated range of environmental conditions
• adsos_random_search.py Runs the same environment with multiple vehicle start/end point configurations. Each configuration is evaluated based on the minimum distance reached between any two ego vehicles and the 'best' configuration is reported