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An implementation of a full motion and behavior planning pipeline for a self-driving car in the CARLA simulator.

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NekSfyris/Motion_Planning_CARLA

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Motion_Planning_CARLA

An implementation of a full motion and behavior planning pipeline for a self-driving car in the CARLA simulator.

System Results

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Install

Follow the steps described in the installation folder. To run our motion planning, you need to download this package, unzip it, and move it as a "Motion_Planning_CARLA" folder under the "PythonClient" folder.

Run

To run the package in the first terminal do:

$ cd ~/opt/CarlaSimulator
$ ./CarlaUE4.sh /Game/Maps/Course4 -windowed -carla-server -benchmark -fps=20 ResX=900 ResY=800

Then at a second terminal:

$ cd ~/opt/CarlaSimulator/PythonClient/Motion_Planning_CARLA
$ python3 module_7.py