FuzzSceneSimTest

This repository manages the code of the scenario-based automatic driving model defect testing system.

The system adopts B/S architecture, the front-end technology stack is Vue + Element UI + Echarts, and the back-end technology stack is SpringBoot + Maven + Mysql + Mybatis / MyBatis Plus.

Repository Structure

• This subdirectory client is responsible for storing and managing the front-end code

• This subdirectory server is responsible for storing and managing the back-end code

• This subdirectory FuzzScene is responsible for storing and managing the remote calling code on the Carla server running on the Ubuntu 20.04 system

• README.mdis a repository description file.

Environment

• Carla Server Env

  • System Env

    • We use Ubuntu 20.04 as our server system

  • Python Env

    • We use Anaconda for switching to different experimental environments, because of the difference between Carla running environment (python 3.7) and the Driving Model environment (python 3.6)
    • We named the Carla anaconda environment carla and Driving Model environment dave
    • Two Anaconda environment files are saved in the env folder under the FuzzScene subdirectory

  • Carla & Scenario Runner Env

    • in order to conduct our experiment, we use Carla Simulator-0.9.13 as our autonomous driving simulator, which can be found at https://github.com/carla-simulator/carla
    • in order to build simulation scenarios, we use Scenario Runner-0.9.13 which can be found at https://github.com/carla-simulator/scenario_runner. The files has already been included in our code

• Front-end && Back-end Server Env

  • Front-end Env
    • We use Node.js v16.13.0 as front-end runtime environment
  • Back-end Env
    • We use SpringBoot 2.6.2 and jdk1.8 as back-end runtime environment and maven-3.8.4 for dependencies management
    • We use mysql-5.7.36 as back-end database

Necessary Files

Because the trained model files in our code is too large, we provide Google Drive link to obtain these files in path FuzzScene/code/sampling_vgg/ and FuzzScene/code/trained_models/

• You can simply get these files through the link below
  • https://drive.google.com/drive/folders/18LgyPcKJOIQ-_ujr9vnNLoH0hW4I9RWo?usp=sharing
• please make sure the files are in the right path consistent with the Google Drive

Code Usage

• Client

  To run front-end project on server, run commands under client root path :

  npm install
  npm run dev

• Server

  First, create mysql tables using springboot.sql in server subdirectory

  Then, modify SSH configuration information in server\src\main\java\com\nineya\springboot\constant\Constants.java according to your carla server configuration; modify application.yml in root path according to your database configuration.

  Last, to run back-end project on server, run command under server root path:

  mvn spring-boot:run

• Carla

  Make sure the necessary files metioned above has been downloaded and put in the right paths.

  If there are still any problems, modify the path strings in the code according to the actual operating environment