Motion Planning on CARLA Simulator

Objective

Development of a motion planning solution implemented in Python using the Carla Simulator.

Usage

Configuration

• The following python scripts were developed in Python 3.7.11, through AnaConda.

• The Operational System was Ubuntu 18.04

• The CARLA version was 0.9.11, downloaded following the Debian installation from this installation guide.

• Processor: Pentium G4560

• Graphic Card: GTX 1050Ti

• Memory: 16Gb DDR4 2400mhz

How to Run

• Add the contents of the 'agents' folder of this repository in the '/opt/carla-simulator/PythonAPI/agents' folder in the your local CARLA.
• Add the content of the 'examples' folder of this repository in the '/opt/carla-simulator/PythonAPI/examples' folder in the your local CARLA.
• Install the Python packages from 'requirements.txt' with Pip. For example pip install -r requirements.txt
• In the '/opt/carla-simulator/PythonAPI/examples' folder, run python motion_planning.py

Acceptance criteria

As for the research project

• The student must develop a script in Python that solves the motion planning problem for autonomous vehicles in CARLA simulator.
• The student must prepare a scientific article on motion planning and the developed solution.
• The student must present both the script and the article to the supervising professor for appropriate corrections, adjustments and eventual approval of the activities developed during the research period.
• The deadline of the activities is October 31, 2021.

As for the trajectory

• The vehicle must be able to reach any point B from any other point B.
• The trajectory and the waypoints must be selected and positioned according to the OpenDRIVE high definition map of the region.
• The route generated to the destination must be efficient, that is, without being longer than necessary;
• The chosen route must obey the traffic laws

As for the motion planning

• The vehicle must travel the route obeying the current traffic laws, such as:

  • Maximum speed
  • Minimum speed
  • Lane centering
  • Lane changes
  • Lane Direction
  • Traffic lights
  • Signs

• The vehicle must travel the route safely, avoiding accidents such as:

  • Collisions with other vehicles (front, side, rear)
  • Collisions with plates, traffic lights, cones and other static obstacles
  • Pedestrian or cyclist being run over

• The vehicle must travel the route comfortably, in order to allow a pleasant journey for the passenger, avoiding:

  • Abrupt braking
  • Sudden accelerations
  • Sharp curves
  • "Accelerate, brake, accelerate" typical behavior of congested traffic