README.md

Awesome OpenX

A curated list of awesome applications, libraries and datasets concerning the development and testing of automated driving functions with a focus on ASAM OpenX Standards (e.g. OpenDRIVE, OpenSCENARIO, OpenLABEL, ...).

This is a list of free software and datasets, whereas non-free software will be listed on the non-free page. Also, check out ASAM's official open source platform. The structure of this list was inspired by awesome selfhosted.

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• Applications
• Converters
• Libraries
• Data Structures & Models
• Datasets
• Miscellaneous

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Applications

• CARLA - Driving simulator based on the Unreal Engine. (Demo, Source Code) MIT C++
  • scenario_runner - Traffic scenario definition and execution for CARLA. MIT Python
• esmini - OpenSCENARIO player. (Source Code) MPL-2.0 C++
• OpenRoadEd - GUI application to create road networks in OpenDRIVE and a corresponding graphical representation in OpenSceneGraph. (Source Code) C++
• ODDLOT - GUI application for the creation of road networks and graphical representations as part of COVISE. (Source Code) LGPL-2.1 C++
• Blender Driving Scenario Creator - Blender add-on for creating simple OpenDRIVE and OpenSCENARIO-based driving scenarios, including 3D models. GPL-3.0 Python
• Unreal Engine OpenDRIVE plugin - Plugin for creating and manipulating OpenDRIVE road networks based esmini's RoadManager. MPL-2.0 C++
• LaneMaker - Qt5 GUI application for creation of 3D road networks which can be exported to OpenDRIVE Apache-2.0 C++

Converters

• r:trån - Transformer of OpenDRIVE geometries and semantics to CityGML enabling the usage of the 3dcitydb, FME and much more. (Source Code, Demos) Apache-2.0 Kotlin
• OpenDRIVE2Lanelet Converter - Python converter of OpenDRIVE datasets to the Lanelet format as part of the CommonRoad project. (Source Code) GPL-3.0 Python
• OpenDRIVE to NetworkX and GeoPandas Converter - Converter of OpenDRIVE geometries to geopandas.GeoDataFrame and network intersections to NetworkX, using OpenDRIVE2Lanelet Converter. MIT Python
• GDAL Driver - OpenDRIVE driver for the library GDAL (translation of raster and vector geospatial data). C++
• osm2opendrive - Tool for generating OpenDRIVE datasets from OpenStreetMap data. GPL-3.0 Python
• osm2xodr - Tool for generating OpenDRIVE datasets from OpenStreetMap data. GPL-3.0 Python

Libraries

• OpenDRIVE
  • pyeulerspiral - Python implementation of euler spirals (clothoids). MIT Python
  • C++ Object Structures - Data structures of OpenDRIVE 1.4 in C++. Apache-2.0 C++
  • odrSpiral - C++ implementation of euler spirals (clothoids). Apache-2.0 C++
  • libOpenDRIVE - Lightweight, fast C++ library providing OpenDRIVE file parsing and 3D model generation as well as a web-based viewer. Apache-2.0 C++
• OpenSCENARIO
  • openscenario.api.test - Java library for reading and processing scenarios. Apache-2.0 C++
• OpenSCENARIO + OpenDRIVE
  • scenariogeneration - Python wrapper for parametrizing and generating linked OpenSCENARIO and OpenDRIVE datasets (formerly known as pyodrx & pyoscx project). MPL-2.0 Python
• OpenLABEL
  • Video Content Description (VCD) - API for creating and editing JSON data compliant with OpenLabel 1.0. MIT Python TypeScript C++
• Open Simulation Interface (OSI)
  • OpenSimulationInterface.CSharp - NuGet package for using OSI in C#/.NET. MPL-2.0 C# Protobuf

Data Structures & Models

• OpenMATERIAL 3D - 3D model exchange format with physical material properties for virtual development, test and validation of automated driving. MPL-2.0 JSON
• Open Simulation Interface (OSI) - Generic interface based on protobuf for the environmental perception of automated driving functions in virtual scenarios. (Source Code) MPL-2.0
• OpenMSL - The Open Source Model & Simulation Library is a central hub demonstrating the interaction between models, standards and tools. MPL-2.0

Datasets

• OpenDRIVE
  • ASAM OpenDRIVE 1.7.0 - Along with the official standard specification, example OpenDRIVE 1.7.0 datasets are distributed by ASAM.
  • 3D Mapping Solutions - Seven surveyed tracks in OpenDRIVE and partly in OpenCRG, including a complex intersection and the inner city of Ingolstadt (complementary to LoD3 models). CC-BY-NC-SA-4.0
  • German Autobahn A9 - Two sections of the German Autobahn A9 with a total length of 52km (Mirror).
  • TUM2TWIN - Large-scale multimodal urban digital twin benchmark dataset including OpenDRIVE dataset created using MathWorks RoadRunner. (Article)
  • TUMDOT-MUC - Vehicle trajectories observed from aerial drones with accompanied OpenDRIVE map. (Article) CC-BY-NC-4.0
  • Brunswick "Schwarzer Berg" - "Schwarzer Berg" region in Brunswick surveyed in 2024 by 3D Mapping Solutions. CC-BY-4.0
  • Brunswick ring road - Inner ring road of Brunswick surveyed in 2012 by 3D Mapping Solutions. CC-BY-4.0
  • Brunswick ring road to airport - ViVre research track in Brunswick surveyed in 2021 by 3D Mapping Solutions. CC-BY-4.0
  • Test Bed Lower Saxony - With parts of the German motorways A2, A391, A39 and of the country road L295 around Brunswick and Wolfsburg, surveyed in 2019 by Atlatec. CC-BY-NC-SA-4.0
  • Wolfsburg - 5G Living Lab research track in Wolfsburg surveyed in 2022 by Atlatec. CC-BY-4.0
  • CARLA - A set of seven road networks generated with MathWorks RoadRunner.
  • esmini - Sample datasets distributed as part of esmini project.
  • ODDLOT - Sample datasets distributed as part of ODDLOT project.
  • ZalaZONE - A set of road networks for the ZalaZONE automotive proving ground created with MathWorks RoadRunner. MIT
• OpenSCENARIO
  • OSC-ALKS-scenarios - Test scenarios for the approval of an "Automated Lane Keeping System" on motorways according to the ALKS Regulation UN R157. MPL-2.0
  • OSC-NCAP-scenarios - Test scenarios for the verification of "Automated Emergency Braking (AEB)" and "Lane Support Systems (LSS)" according to Euro NCAP protocols. MPL-2.0
• OpenMATERIAL 3D
  • OpenX-Assets - 3D vehicle models using ASAM OpenX standards

Miscellaneous

• Nicco Hagedorn's YouTube channel - Concise explanations of the OpenDRIVE concepts along with practical examples compiled in a video series.