Autonomous-turning-of-vehicle-and-overtaking-in-CARLA

This project aims to automate left and right turns and overtaking for autonomous vehicles with the self-driving cars simulator CARLA. The two main focus are on Turning and Overtaking by Bezier curve (Bezier Curve).

Test Platform

Windows 10 CARLA 0.9.11

Carla Simulator Installation

Go to official Carla Releases Github page.

Download [Windows] CARLA 0.9.11, unzip the file and rename the folder as CARLA_0.9.11. Additional maps are optional.

Put CARLA_Simulator folder and this repository folder in the same folder. So the folder structure should look like:

Other prerequisites

numpy, opencv and pygame should be correctly installed.

Run Instruction

Performing Phase

1. Go to CARLA_0.9.11 folder,

   cd Carla/CARLA_0.9.11

   run CARLA in Low Graphic Quality

   ./CarlaUE4.sh -quality-level=Low

2. Go to the environment folder of this repository. There are options for generating different scenes.

   To perform turning in empty city:

   python ego_vehicle.py

   To perform turning in city with n=80 vehicles: run ego_vehicle.py first `python ego_vehicle

   Open new terminal. go to exaples directory of PythonAPI of carla repository

   cd C:\CARLA_0.9.11\WindowsNoEditor\PythonAPI\examples

   Spawn n=80 vehicle of how many you want

   python spawn_npc.py -n 80

   To perform overtaking when there is one vehicle in front, generate scene 1 where only the ego vehicle exists by:

   python ego_vehicle.py -s 1

Note: Overtaking is still experimental and might fail in heavy traffic environment. Do not spawn vehicles for overtaking

Results