A multi-pass compiler using ANTLR4 and py_trees translates OpenSCENARIO 2.1 DSL into CARLA behaviors, demonstrated on a multi-actor cut-in scenario.
System- level Simulation-based Verification of Autonomous Driving Systems with the VIV AS Framework and CARLA Simula- tor.Science of Computer Programming, 242:103253
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Compiling OpenSCENARIO 2.1 for Scenario-Based Testing in CARLA
A multi-pass compiler using ANTLR4 and py_trees translates OpenSCENARIO 2.1 DSL into CARLA behaviors, demonstrated on a multi-actor cut-in scenario.