CHWS Vehicles

This repository contains the files that simulates the vehicles in my CHWS system.

Files in this repo.

/test_files
    /kitti_test.py
    /mqtt_test.py
    /vehicle_a_test.py
    /vehicle_b_test.py
/dummy.png
/find_hazard_frames.py
/vehicle_a.py
/vehicle_b.py
/vehicle_c.py

Required installation for connection

mosquitto

Required imports for Python

Ultralytics YOLO
paho

Other installations

You must have the KITTI dataset in your working folder.

• kitti_test.py
  • This file tests if the YOLO model works on the KITTI dataset.
• mqtt_test.py
  • Tests connection with edge device.
• vehicle_a_test.py
  • Tests if vehicle A works as expected when working with vehicle_b_test.py and the edge server test.
• vehicle_b_test.py
  • Same as above but for vehicle B.
• dummy.png
  • This is used by the YOLO model to warm up.
• find_hazard_frames.py
  • This file finds 100 frames in the KITTI dataset that contain hazards and shuffles them, outputting hazard_idx.txt, which includes the randomly selected and shuffled hazard indices.
• vehicle_a.py
  • This file simulates CHWS vehicle A by sending hazard information to B through edge.
• vehicle_b.py
  • This file simulates CHWS vehicle B by receiving information from A through edge. It also performs local YOLO detections. This file outputs vehicle_b_results.csv.
• vehicle_c.py
  • This file simulates local vehicle C by performing local YOLO detections. This file outputs vehicle_c_results.csv.

The CHWS connections must established by following the procedure below.

1. Start a mosquitto process on your edge device.
2. Start your Python edge server. Wait for connection establishment.
3. Start vehicle_b.py. Wait for connection establishment.
4. Start vehicle_a.py.