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.

Get CARLA overnight build

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

2019 Roadmap

We are continuously working on improving CARLA, and we appreciate contributions from the community. Our most immediate goals are:

• Support simulation of traffic scenarios
• Support ROS interface
• Allowing for flexible and user-friendly import and editing of maps
• Control of all vehicles from client side
• Control of pedestrians from client side
• No rendering mode for high performance simulation
• Support parallel simulation of traffic scenarios in the cloud
• RADAR simulation

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.

Note that UE4 itself follows its own license terms.