Do you have an introduction to the file "drive.py" ?

[kangskii]

Hello,
I have read your paper https://www.leiphone.com/news/201706/RuoKaDSTmd1dClUV.html. Good job!
In my opinion, the drive.py is used to combine your well-trained NN into the self-driving simulator.
Am I right ?
If yes, do you have an introduction document of "drive.py" ? Or where can I found such a document on how to test my trained NN on the self-driving Simulator ?
Thanks.