This book aims to help beginners to learn autonomous driving from coding excercises. The content is organized in a bottom-up approach, by introducing local longitudinal and lateral PID controller first, and all the way up to perception. All topics are demosntrated through closed-loop simulation using CARLA. I found this approach is easier for students in mechanical/electrical engineering to start with.
The covered topics are:
- 1 Introduction
- 2 Vehicle Dynamics
- 3 Trajectory Tracking
- Motion Planning
- Route Planning
- Behavior Planning
- Motion Planning
- Motion Prediction
- Sensor Fusion
- Multi-target Tracking
- Motion Prediction
- Simultenanous Localization and Mapping (SLAM)
- Localization
- Mapping
- SLAM
- Perception
- Camera 3D Object Detection
- Lidar 3D Object Detection
- Multi-sensor Object Detection
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Run Carla server in docker. Make sure you have docker installed. Direct to the root folder of this repo and run the following command in a terminal:
For Ubuntu,
bash ./run_server/run_carla_0.9.14.sh
For Windows,
./run_server/run_carla_0.9.14.bat
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Run visualization. Open a new terminal and type:
bash run_visualization/run_carla_viz.sh
Then open a browser and go to
localhost:8000
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Open a new terminal to run Carla client:
For Ubuntu,
source setup_pythonpath.sh cd ./book/3-trajectory-following python test_lateral_control.py
If you are interested in any of the above topics, please feel free to contact me at fuyy2008@gmail.com