Implementation of Imitation Learning Method on Carla Simulation with Trainings Based on Scenarios
- Download Carla 0.9.10.1
- unzip folder to PATH_TO_CARLA_ROOT_SH (user defined path)
conda create -n carla python=3.7
conda activate carla
pip install -r requirements.txt- carla version 0.9.10.1
- python 3.7.11
- unreal engine 4.24
- scenario_runner 0.9.9
- leaderboard
- pygame 2.0.1
- pytorch 1.7.1
pip install -r requirements.txtgedit ~/.bashrc
export DeFIX_PATH=PATH_TO_MAIN_DeFIX_REPO
export CARLA_ROOT=PATH_TO_CARLA_ROOT_SH
export SCENARIO_RUNNER_ROOT="${DeFIX_PATH}/scenario_runner"
export LEADERBOARD_ROOT="${DeFIX_PATH}/leaderboard"
export PYTHONPATH="${CARLA_ROOT}/PythonAPI/carla/":"${SCENARIO_RUNNER_ROOT}":"${LEADERBOARD_ROOT}":"${CARLA_ROOT}/PythonAPI/carla/dist/carla-0.9.10-py3.7-linux-x86_64.egg":${PYTHONPATH}
source ~/.bashrccd $CARLA_ROOT
./CarlaUE4.sh -prefernvidiacd $DeFIX_PATH/imitation-learning/scripts
. run_autopilot.shcd $DeFIX_PATH/imitation-learning/scripts
. run_imitation.shWelcome to the ScenarioRunner for CARLA! This document provides a list of all currently supported scenarios, and a short description for each one.
The scenario realizes a common driving behavior, in which the user-controlled ego vehicle follows a leading car driving down a given road in Town01. At some point the leading car slows down and finally stops. The ego vehicle has to react accordingly to avoid a collision. The scenario ends either via a timeout, or if the ego vehicle stopped close enough to the leading vehicle
This scenario is very similar to 'FollowLeadingVehicle'. The only difference is, that in front of the leading vehicle is a (hidden) obstacle that blocks the way.
In this scenario the ego vehicle takes a right turn from an intersection where a cyclist suddenly drives into the way of the ego vehicle,which has to stop accordingly. After some time, the cyclist clears the road, such that ego vehicle can continue driving.
This scenario is similar to 'VehicleTurningRight'. The difference is that the ego vehicle takes a left turn from an intersection.
In this scenario an illegal behavior at an intersection is tested. An other vehicle waits at an intersection, but illegally runs a red traffic light. The approaching ego vehicle has to handle this situation correctly, i.e. despite of a green traffic light, it has to stop and wait until the intersection is clear again. Afterwards, it should continue driving.
In this scenario a cyclist is stationary waiting in the middle of the road and blocking the way for the ego vehicle. Hence, the ego vehicle has to stop in front of the cyclist.
This is similar to 'StationaryObjectCrossing', but with the difference that the cyclist is dynamic. It suddenly drives into the way of the ego vehicle, which has to stop accordingly. After some time, the cyclist will clear the road, such that the ego vehicle can continue driving.
This scenario tests negotiation between two vehicles crossing cross each other through a junction without signal. The ego vehicle is passing through a junction without traffic lights And encounters another vehicle passing across the junction. The ego vehicle has to avoid collision and navigate across the junction to succeed.
In this scenario control loss of a vehicle is tested due to bad road conditions, etc and it checks whether the vehicle is regained its control and corrected its course.
In this scenario vehicle is passing another vehicle in a rural area, in daylight, under clear weather conditions, at a non-junction and encroaches into another vehicle traveling in the opposite direction.
The scenario realizes a common driving behavior, in which the user-controlled ego vehicle follows a leading car driving down a given road. At some point the leading car has to decelerate. The ego vehicle has to react accordingly by changing lane to avoid a collision and follow the leading car in other lane. The scenario ends via timeout, or if the ego vehicle drives certain distance.
In this scenario right turn of hero actor without collision at signalized intersection is tested. Hero Vehicle is turning right in an urban area, at a signalized intersection and turns into the same direction of another vehicle crossing straight initially from a lateral direction.
In this scenario hero vehicle is turning left in an urban area, at a signalized intersection and cuts across the path of another vehicle coming straight crossing from an opposite direction.