FLYOVER

A Model-Driven Method to Generate Diverse Highway Interchanges for Autonomous Vehicle Testing

Application Demos

SUMO + Carla
Apollo

Dataset Generation Pipeline

Segment Real Interchange

Extract Topology Feature

Visualize Topology Model

Sample Interchange Geometry

Generate map for Simulation

Interchange Feature Modeling Examples

Real Interchange

Topology Model

Topology Visualization

Sumo Map

Average Throughput Under Different Traffic Density

Visualization of the generated OpenDRIVE map

Visualization of the SUMO Throughput Experiment

# Interchange Class 450 900 1350 1800
C1 4865.49 6902.19 7799.31 7785.99
C2 4590.27 6382.44 7230.60 7228.53
C3 5296.05 7300.08 8081.37 8082.63
C4 4888.80 6575.94 7404.57 7401.42
C5 4535.01 6267.96 7153.29 7142.76
C6 4882.41 6815.52 7592.49 7589.52
C7 3326.94 5296.77 6117.30 6101.01
C8 2702.79 3991.68 4477.05 4484.07
C9 3610.71 5764.95 6615.09 6614.10
C10 4510.98 6217.74 7048.35 7039.44
C11 3979.71 5740.29 6557.22 6560.73
C12 3600.81 6024.15 6856.20 6861.69
C13 4488.39 6127.56 7029.27 7006.59
C14 3592.26 5542.20 6296.49 6289.56
C15 2430.00 3606.21 4020.21 4022.37
C16 2426.13 3331.71 3762.72 3764.97
C17 4395.33 6628.14 7539.66 7550.37
C18 3900.24 6094.89 6968.52 6964.20
C19 2700.81 4807.44 5685.03 5687.37
C20 4521.78 6285.78 7159.95 7157.43
C21 5104.62 6920.01 7766.46 7749.72
Inter-class Standard Deviation 873.63 1062.44 1184.72 1181.98