PASS is a simulation-centric Autonomous Driving security & safety evaluation platform.
Please follow the next steps to setup and run the platform.
- This customized SVL builds upon SVL v2021.3 with additional dynamic stop sign patching capability.
- Unzip the downloaded package and enter the extracted folder, which is
SimBuild_StopSign
by default. - Check if a file
stop_sign_sf_1.png
undersimulator_Data/Resources
exists. This is the adversarial patch generated from ShapeShifter attack. To run simulation with a benign stop sign, please replace this file with the one namedstop_sign_sl_1.png
.
- Start the
simulator
executable, selectGo Online
, and clickLINK TO CLOUD
orOpen Browser
on the simulator window.
- Register a SVL account through the web interface if it is the first time SVL execution.
- Sign in the web system, create a cluster, and assign a name to the cluster, e.g.,
achilles
.- Under
Library/Maps
, clickAdd New
and upload the map bundle.- Change the map name to
SanFrancisco_Achilles
, clickNext
. - Click
Publish
. (Note: clickingPublish and Add to Store
will make the map bundle public to everyone!)
- Change the map name to
- Under
Simulations
, clickAdd New
to create a new simulation.- Assign a name, e.g,
API Mode
, to this new simulation instance. - Under
Select Cluster
, select the cluster name you just created, i.e.,achilles
, and ClickNext
. - Under
Runtime Template
, selectAPI Only
. ClickNext
. - Click
Next
and clickPublish
.
- Assign a name, e.g,
- Under
- Clone this repository, run a terminal, and navigate to the cloned repository, e.g.,
ade2e
, in the terminal.
- Build the docker image for ShapeShifter:
bash ./docker/build.sh
, select1
- Start the docker container:
bash ./docker/start.sh
, select1
- Enter the docker container:
bash ./docker/enter.sh
, select1
- Navigate to the
ade2e
folder to setup the SVL environment:bash ./setup_env.sh
- Exit the docker container:
exit
- Navigate to your
ade2e
folder in the terminal. - Enter the docker container:
bash ./docker/enter.sh
, select1
- Navigate to the same
ade2e
folder in the container. - Check the
./scripts/run_evaluation.sh
file to set the correct environment variables. - Start the already created
API Mode
simulation instance in the simulator web system. - Run the evaluation:
bash ./scripts/run_evaluation.sh
- If you encounter case when SVL suddenly closes itself (likely due to high runtime overhead), please try switch to offline simulation mode.
- Simulation log will be stored in the log directory at the end of simulation.
The PASS platform makes use of the following open source projects: