This project aims to automate left and right turns and overtaking for autonomous vehicles with the self-driving cars simulator CARLA. The two main focus are on Turning and Overtaking by Bezier curve (Bezier Curve).

Windows 10 CARLA 0.9.11

Go to official Carla Releases Github page.

Download [Windows] CARLA 0.9.11, unzip the file and rename the folder as CARLA_0.9.11. Additional maps are optional.

Put CARLA_Simulator folder and this repository folder in the same folder.

numpy, opencv and pygame should be correctly installed.

1. Go to CARLA_0.9.11 folder,

   cd Carla/CARLA_0.9.11

   run CARLA in Low Graphic Quality

   ./CarlaUE4.sh -quality-level=Low

2. Go to the environment folder of this repository. There are options for generating different scenes.

   To perform turning in empty city:

   python ego_vehicle.py

   To perform turning in city with n=80 vehicles: run ego_vehicle.py first `python ego_vehicle

   Open new terminal. go to exaples directory of PythonAPI of carla repository

   cd C:\CARLA_0.9.11\WindowsNoEditor\PythonAPI\examples

   Spawn n=80 vehicle of how many you want

   python spawn_npc.py -n 80

   To perform overtaking when there is one vehicle in front, generate scene 1 where only the ego vehicle exists by:

   python ego_vehicle.py -s 1

Note: Overtaking is still experimental and might fail in heavy traffic environment. Do not spawn vehicles for overtaking