CavWorld API

CavWorld serves as the global registry for CAVs and manages shared ML models. Prevents duplicate model loading and enables efficient resource utilization.

Attribute	Type	Purpose
vehicle_id_set	set	CARLA vehicle ID tracking
_vehicle_manager_dict	dict	VehicleManager registry
_platooning_dict	dict	PlatooningManager registry
ml_manager	MLManager	Shared YOLOv8/YOLOv5 models

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Core Methods

What it does: Manages vehicle registration and shared ML model access

InitializationVehicle ManagementML Model Access

# Standard simulation 
cav_world = CavWorld(apply_ml=False)

# ML-enabled with shared models
cav_world = CavWorld(apply_ml=True)

# Register vehicle (automatic during creation)
cav_world.update_vehicle_manager(vehicle_manager)

# Retrieve by ID
vm = cav_world.get_vehicle_manager(vehicle_id)

# Remove from registry
cav_world.remove_vehicle_manager(vehicle_id)

# Access shared models from any component 
if cav_world.ml_manager: 
    detections = cav_world.ml_manager.object_detector(images) 

ML Integration

Model SelectionSimulation SetupCustom ML ModelsThread Safety

What Changed: Automatic YOLOv8/YOLOv5 selection with shared instance

def _initialize_ml_models(self): 
    try: 
        # Prefer YOLOv8 (better performance) 
        from ultralytics import YOLO 
        detector = YOLO('yolov8m.pt') 
        use_v8 = True 
    except ImportError: 
        # Fallback to YOLOv5 (compatibility) 
        detector = torch.hub.load('ultralytics/yolov5', 'yolov5m') 
        use_v8 = False 
    return MLManager(detector, use_v8) 

# Create CAV world with ML support 
cav_world = CavWorld(apply_ml=True)

# Create scenario manager with shared world
scenario_manager = ScenarioManager(
    scenario_params, apply_ml=True, cav_world=cav_world
)

# Vehicles automatically register during creation
vehicles = scenario_manager.create_vehicle_manager(['platooning'])

# Extend with custom models 
class CustomMLManager(MLManager): 
    def __init__(self): 
        super().__init__() 
        self.custom_detector = load_custom_model() 
cav_world = CavWorld(apply_ml=True)
cav_world.ml_manager = CustomMLManager()

# Thread-safe vehicle management 
with cav_world.vehicle_lock: 
    cav_world.update_vehicle_manager(vehicle_manager)

# Safe model access from multiple threads
detections = cav_world.ml_manager.object_detector(images)

Related:

• VehicleManager
• PerceptionManager
• ScenarioManager