File size: 1,938 Bytes
b2cfca5 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 | ---
license: cc-by-nc-nd-4.0
pipeline_tag: robotics
---
# TCP-Speed
**TCP-Speed** is a baseline model for desired-speed conditioned autonomous driving, introduced as part of the **Bench2Drive-Speed** benchmark.
[**Project Page**](https://thinklab-sjtu.github.io/Bench2Drive-Speed/) | [**Paper**](https://huggingface.co/papers/2603.25672) | [**Github**](https://github.com/Thinklab-SJTU/Bench2Drive-Speed)
## Overview
Bench2Drive-Speed is a closed-loop benchmark for desired-speed conditioned autonomous driving. It enables explicit control over vehicle behavior through:
* 🎯 **Target-speed conditioning**: Users can specify the desired driving speed.
* 🚘 **Overtake / Follow commands**: Users can specify whether the vehicle should overtake or follow others.
The TCP-Speed model serves as a baseline that processes these user preferences to generate driving actions within the CARLA simulator.
## Usage
To use or build upon this agent, refer to the official [Bench2Drive-Speed repository](https://github.com/Thinklab-SJTU/Bench2Drive-Speed).
The agent inherits from `AutonomousAgent`. In addition to standard CARLA inputs, you can access the user-specified conditions within the agent logic as follows:
```python
# Extract target speed and overtake commands within the agent class
target_speed = self.get_planned_speed() # float (km/h)
do_overtake = self.do_overtake # boolean
```
For full setup, training, and evaluation instructions, please follow the documentation in the [Github README](https://github.com/Thinklab-SJTU/Bench2Drive-Speed).
## Citation
```bibtex
@article{Bench2DriveSpeed,
title={Can Users Specify Driving Speed? Bench2Drive-Speed: Benchmark and Baselines for Desired-Speed Conditioned Autonomous Driving},
author={Yuqian Shao and Xiaosong Jia and Langechuan Liu and Junchi Yan},
year={2026},
eprint={2603.25672},
archivePrefix={arXiv},
primaryClass={cs.RO},
}
``` |