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Velocity & Steering Control for a Self Driving Car

Overview

Design longitudinal (velocity) and lateral (steering) controller for a car to operate autonomously. Simulation done in Carla Simulator. Reference velocity and waypoints are given for a race track.

Dependencies

  • Python 3.6
  • Carla Simulator
  • matplotlib 2.2

Implementation

  • Implemented PID controller for the velocity control.

  • Implemented Stanley Controller for the steering control. Stanley Controller is based on Bicycle Model.

Output

  • Trajectory Control as compared to ground truth.

  • Speed as compared to ground truth

Run Instructions

Clone the reppsotory inside the directory

<CarlaSimulator/PythonClient/>

In a terminal

$ ./CarlaUE4.sh /Game/Maps/RaceTrack -windowed -carla-server -benchmark -fps=30

In another terminal

$ python3.6 main.py

Result Verification

python3.6 verify.py racetrack_waypoints.txt /controller_output/trajectory.txt