1e98335808
* Traffic Manager 2.0 * WIP: new class structure for TM 2.0 Yet to use the new classes in TrafficManagerLocal * WIP: new class structure integration * Fix for python api build. * Fix for hybrid mode crash. * Fixed incorrect collision cache. Fixed crash upon map change. Minor reformatting. * Fixed collisions with unregistered actors. Fixed collisions among multiple traffic manager instances. Fixed vehicle destruction upon being stuck for too long. * Fixed vehicle wobble on steep roads * Waypoint buffer extension at junction entrance. * WIP: Revamped intersection anticipation. * Implemented waypoint occupancy tracking. * * considering buffer independent waypoints for determining blocked junction exit. * considering longitudinal extreme points for localizing unregistered actors. * Removed debug statements * Intersection anticipation for vehicles moving across path. * Fixed intersection anticipation in Town03, Town04. * Safe interval length check for intersection anticipation. * Distance check from safe interval for blocked exit. * Removed debug statements * * Intersection anticipation exception for roundabout in Town03. * Updated comments. * codacity fix * more codacity fixes * formatting and minor changes * bad indentation * Removed debug statements and updated comments. * fixes unused variable error in make examples * Increased minimum obstacle distance for lane change to avoid partial lane changes. * Removing crude stopping logic at junction entrance for blocked junction case. * Ignoring small intersection segments for intersection anticipation. * Fixed issue in unblocking mechanism due to incorrect clock initialization. * Fixing intersection entrance identification. * Fixed incorrect safe space after junction detection. * Fixed collision negotiation conditions to work well inside intersections and avoid deadlocks in roundabout turns. * Replaced in file constants of InMemoryMap with definitions from Constants.h Updated comments * Added a check to avoid collision considerations in case of traffic light hazard in motion planner. * Re-organised include statements for ALSM.h/.cpp files. Fixed a double initialization precision. * WIP: Refactoring ALSM::Update * Refactored ALSM::Update into shorter functions. * ALSM: Corrected numeric comparision precision and container access optimizations. * Initial review changes * CollisionStage: addressed pr comments. * Constants.h, DataStructures.h: addressed pr review comments. * InMemorMap: review comment addressal. * LocalizationStage: Review comment addressal * New class for random generation instead of rand() * Removed unused code * MotionPlanStage: re-organized include statements. * MotionPlanStage: review comment addressal. * SimulationState, DataStructures: minor refactoring. * SnippetProfiler, TrackTraffic: Review comment addressal. * Refactored include statements for SimpleWaypoint, SnippetProfiler, TrackTraffic files. * TrafficLightStage: review comment addressal. * Using sleep instead of continue to time hybrid mode. * Changing fixed array allocation with dynamic resizing. * Refactored include statements for TrafficManager * Removed clamp macro * Added const to Networking constants Co-authored-by: Jacopo Bartiromo <jackbart94@gmail.com> Co-authored-by: Jacopo Bartiromo <32928804+jackbart94@users.noreply.github.com> |
||
|---|---|---|
| .github | ||
| Co-Simulation | ||
| Docs | ||
| Examples/CppClient | ||
| Import | ||
| LibCarla | ||
| PythonAPI | ||
| Unreal/CarlaUE4 | ||
| Util | ||
| .gitattributes | ||
| .gitignore | ||
| .pep8 | ||
| .readthedocs.yml | ||
| .travis.yml | ||
| CHANGELOG.md | ||
| CMakeLists.txt | ||
| Doxyfile | ||
| Jenkinsfile | ||
| LICENSE | ||
| Makefile | ||
| README.md | ||
| Update.bat | ||
| Update.sh | ||
| mkdocs.yml | ||
| wheel_config.ini | ||
README.md
CARLA Simulator
CARLA is an open-source simulator for autonomous driving research. CARLA has been developed from the ground up to support development, training, and validation of autonomous driving systems. In addition to open-source code and protocols, CARLA provides open digital assets (urban layouts, buildings, vehicles) that were created for this purpose and can be used freely. The simulation platform supports flexible specification of sensor suites and environmental conditions.
If you want to benchmark your model in the same conditions as in our CoRL’17 paper, check out Benchmarking.
CARLA Ecosystem
Repositories associated to the CARLA simulation platform:
- Scenario_Runner: Engine to execute traffic scenarios in CARLA 0.9.X
- ROS-bridge: Interface to connect CARLA 0.9.X to ROS
- Driving-benchmarks: Benchmark tools for Autonomous Driving tasks
- Conditional Imitation-Learning: Training and testing Conditional Imitation Learning models in CARLA
- AutoWare AV stack: Bridge to connect AutoWare AV stack to CARLA
- Reinforcement-Learning: Code for running Conditional Reinforcement Learning models in CARLA
- Map Editor: Standalone GUI application to enhance RoadRunner maps with traffic lights and traffic signs information
Like what you see? Star us on GitHub to support the project!
Paper
If you use CARLA, please cite our CoRL’17 paper.
CARLA: An Open Urban Driving Simulator
Alexey Dosovitskiy, German Ros,
Felipe Codevilla, Antonio Lopez, Vladlen Koltun; PMLR 78:1-16
[PDF]
[talk]
@inproceedings{Dosovitskiy17,
title = {{CARLA}: {An} Open Urban Driving Simulator},
author = {Alexey Dosovitskiy and German Ros and Felipe Codevilla and Antonio Lopez and Vladlen Koltun},
booktitle = {Proceedings of the 1st Annual Conference on Robot Learning},
pages = {1--16},
year = {2017}
}
Building CARLA
Use git clone or download the project from this page. Note that the master
branch contains the latest fixes and features, for the latest stable code may be
best to switch to the stable branch.
Then follow the instruction at How to build on Linux or How to build on Windows.
Unfortunately we don't have official instructions to build on Mac yet, please check the progress at issue #150.
Contributing
Please take a look at our Contribution guidelines.
F.A.Q.
If you run into problems, check our FAQ.
License
CARLA specific code is distributed under MIT License.
CARLA specific assets are distributed under CC-BY License.
The ad-rss-lib library compiled and linked by the RSS Integration build variant introduces LGPL-2.1-only License.
Note that UE4 itself follows its own license terms.