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opendilab / LMDrive

[CVPR 2024] LMDrive: Closed-Loop End-to-End Driving with Large Language Models
Apache License 2.0
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Replace the vehicle #80

Open CoderXuans opened 1 month ago

CoderXuans commented 1 month ago

@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?

deepcs233 commented 1 month ago

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

CoderXuans commented 1 month ago

@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.

CoderXuans commented 1 month ago

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.

CoderXuans commented 1 month ago

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

deepcs233 commented 1 month ago

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.