In order to experiment with the runtime verification approach for simulation-based analysis of autonomous driving systems, we implemented an Adaptive Cruise Control (ACC) system in the CARLA Simulator.

In the repository linked below, we provide the source code files of the CARLA simulator that were extended to implement the ACC system, as well as the python script used for runtime monitoring. If you have already built CARLA and wish to add our extension, please replace the original CARLA files with the ones found in the repository and build the simulator again. Then, you can use the python script to monitor the ACC system at runtime.