Momenta Autodrive Stack v11

This repository delivers a compact but engineering-structured autonomous driving stack sample in C++17.

v8 additions

• multi-hypothesis object trajectory generation
• explainable gap-acceptance evaluation for lane changes
• RSS-style safety supervisor above the low-level guardian
• hypothesis trace outputs for debugging
• modular unit-test tree instead of one monolithic test file
• 13-scenario batch regression suite

Build

cmake -S . -B out/build_v8 -G Ninja -DCMAKE_BUILD_TYPE=Release
cmake --build out/build_v8 -j
ctest --test-dir out/build_v8 --output-on-failure
./out/build_v8/mad_batch_eval

Key outputs

• out/batch/scenario_summary.csv
• out/batch/scenario_report.md
• out/events
• out/decision_traces
• out/risk_traces
• out/hypothesis_traces
• out/interop
• out/replay

Test tree

• tests/test_prediction.cpp
• tests/test_planning.cpp
• tests/test_safety.cpp
• tests/test_runtime.cpp
• tests/test_scenarios.cpp
• tests/test_framework.*

v9 highlights

• Joint interaction prediction
• Lane-sequence tactical planner
• RSS-style lane-change checker
• Gain-scheduled controller
• Expanded test matrix and regression scenarios

Repository scale note

This repo now includes large generated source/spec assets under generated/ and configs/generated_regression_suite/. They are intentionally kept out of the default build so the core stack still compiles quickly while the repository carries a much broader interface, validation, and scenario surface.

v11 highlights

• corridor-cost tactical evaluator wired into the stack
• fallback manager for minimal-risk lane keeping / stop escalation
• expanded runtime diagnostics and recovery scenario
• additional unit tests for corridor selection and fallback escalation

Windows build

Use scripts\build_windows.bat.

What the script does now:

• detects cmake
• detects python or py -3
• prefers Ninja when available
• falls back to Visual Studio 2022/2019 with C++ tools via vswhere + VsDevCmd.bat
• writes a persistent log to out\logs\build_windows.log
• pauses on failure unless MAD_NO_PAUSE=1

Run examples:

scripts\build_windows.bat
scripts\run_demo_windows.bat highway_lane_change
scripts\run_batch_eval_windows.bat