longest6 is an evaluation benchmark for sensorimotor autonomous driving methods using the CARLA 0.9.10.1 simulator.
It consists of 36 long routes in the publicly available Town 01-06 which, are populated with the maximum traffic density.
The benchmark tests level 4 driving capabilities, methods are therefore allowed to train with data from the evaluation towns.
Evaluation metrics follow the standard metrics from the CARLA leaderboard 1.0, except that stop sign infractions are not considered.
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CARLA (CAR Learning to Act) is an open simulator for urban driving, developed as an open-source layer over Unreal Engine 4. Technically, it operates similarly to, as an open source layer over Unreal Engine 4 that provides sensors in the form of RGB cameras (with customizable positions), ground truth depth maps, ground truth semantic segmentation maps with 12 semantic classes designed for driving (road, lane marking, traffic sign, sidewalk and so on), bounding boxes for dynamic objects in the environment, and measurements of the agent itself (vehicle location and orientation). Source: Synthetic Data for Deep Learning