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Although Cooperative Driving Automation (CDA) has attracted considerableattention in recent years, there remain numerous open challenges in this field.The gap between existing simulation platforms that mainly concentrate onsingle-vehicle intelligence and CDA development is one of the criticalbarriers, as it inhibits researchers from validating and comparing differentCDA algorithms conveniently. To this end, we propose OpenCDA, a generalizedframework and tool for developing and testing CDA systems. Specifically,OpenCDA is composed of three major components: a co-simulation platform withsimulators of different purposes and resolutions, a full-stack cooperativedriving system, and a scenario manager. Through the interactions of these threecomponents, our framework offers a straightforward way for researchers to testdifferent CDA algorithms at both levels of traffic and individual autonomy.More importantly, OpenCDA is highly modularized and installed with benchmarkalgorithms and test cases. Users can conveniently replace any default modulewith customized algorithms and use other default modules of the CDA platform toperform evaluations of the effectiveness of new functionalities in enhancingthe overall CDA performance. An example of platooning implementation is used toillustrate the framework's capability for CDA research. The codes of OpenCDAare available in the https://github.com/ucla-mobility/OpenCDA.

OpenCDA:An Open Cooperative Driving Automation Framework Integrated with Co-Simulation