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

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Extract Topology Feature

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Visualize Topology Model

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Sample Interchange Geometry

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Generate map for Simulation

Interchange Feature Modeling Examples

Average Throughput Under Different Traffic Density

Visualization of the generated OpenDRIVE map

Visualization of the SUMO Throughput Experiment

# Interchange Class 450 900 1350 1800
$$C_1$$ 4865.49 6902.19 7799.31 7785.99
$$C_2$$ 4590.27 6382.44 7230.60 7228.53
$$C_3$$ 5296.05 7300.08 8081.37 8082.63
$$C_4$$ 4888.80 6575.94 7404.57 7401.42
$$C_5$$ 4535.01 6267.96 7153.29 7142.76
$$C_6$$ 4882.41 6815.52 7592.49 7589.52
$$C_7$$ 3326.94 5296.77 6117.30 6101.01
$$C_8$$ 2702.79 3991.68 4477.05 4484.07
$$C_9$$ 3610.71 5764.95 6615.09 6614.10
$$C_{10}$$ 4510.98 6217.74 7048.35 7039.44
$$C_{11}$$ 3979.71 5740.29 6557.22 6560.73
$$C_{12}$$ 3600.81 6024.15 6856.20 6861.69
$$C_{13}$$ 4488.39 6127.56 7029.27 7006.59
$$C_{14}$$ 3592.26 5542.20 6296.49 6289.56
$$C_{15}$$ 2430.00 3606.21 4020.21 4022.37
$$C_{16}$$ 2426.13 3331.71 3762.72 3764.97
$$C_{17}$$ 4395.33 6628.14 7539.66 7550.37
$$C_{18}$$ 3900.24 6094.89 6968.52 6964.20
$$C_{19}$$ 2700.81 4807.44 5685.03 5687.37
$$C_{20}$$ 4521.78 6285.78 7159.95 7157.43
$$C_{21}$$ 5104.62 6920.01 7766.46 7749.72
Inter-class Standard Deviation 873.63 1062.44 1184.72 1181.98