This repository contains code, configurations, and documentation for running custom racetrack control experiments in the CARLA simulator.
It is part of the University of Toronto's Introduction to Self-Driving Cars course final project on Coursera, designed by Steven Waslander. See course link for details.
It is designed for reproducing specific environments and behaviors using the same CARLA build across platforms (Windows and Linux).
-
Link to Simulator Download (preconfigured CARLA version + racetrack map)
-
Longitudinal Control using PID
-
Lateral Control using Stanley Controller
-
In progress
- Combined lateral and longitudinal control.
- Add camera for more advanced feedback.
Note: The CARLA binaries and map assets are not stored in this repository due to file size limits.
Download the preconfigured CARLA setup (matching this repository’s version):
CARLA Setup & Racetrack Files (Google Drive)
Follow the included guides for both Linux and Windows installation instructions. Note: The simplest method is to setup a pyenv and you MUST use Python3.5 or 3.6 (I recommend 3.6, I could not get python3.5 to work)
Thanks to Steven Waslander for designing the course and to Jonathan Kelly, another instructor for the course.