LMDrive Replace the vehicle

@deepcs233 I want to replace the ego vehicle with an unmanned boat during evaluation. Should I make changes from both aspects: the code and the simulation?

Oct 07 '24 07:10 CoderXuans

I think you should modify the Carla simulator to support this feature:) The code may just need a little modification.

Oct 07 '24 07:10 deepcs233

@deepcs233 I successfully changed the ground material on the CARLA server side and then ran the evaluation script on the CARLA client. However, I am not sure if replacing the ego vehicle should also be done on the CARLA server side.

Oct 07 '24 08:10 CoderXuans

In other words, from the BEV perspective, the ego vehicle currently appears as a black car. If I could change the color of the ego vehicle when running the evaluation code in the CARLA client, I feel that it would be easier to switch the ego vehicle to a ship.

Oct 07 '24 08:10 CoderXuans

@deepcs233 Where are the ego vehicle and other vehicles on the road added when running the evaluation code leaderboard_evaluator.py?

Oct 08 '24 09:10 CoderXuans

Hi! You can try to modify this function: https://github.com/opendilab/LMDrive/blob/43fc2e9a914623fd6eec954a94aeca2d3966e3db/leaderboard/leaderboard/leaderboard_evaluator.py#L169 , which is used to spawn the ego vehicle.

Oct 12 '24 07:10 deepcs233