End-to-end Autonomous Driving System using yaw information.
We implement a vision-based autonomous driving mode using yaw and localization based End-to-end autonomous driving model with pytorch.
Implemented Version
- Python 3.6
- Pytorch 1.3
- Torchvision 0.2
- CARLA 0.8.2
We utilize the bicycle model form kinematic vehicle dynamics. The yaw angle is calculated by Kinematic Vehicle Equation.
- Train: python main_auxi_v0.py --lr=1e-4 --train-dir=your dir --eval-dir=your dir
- Eval: python run_auxi_ver0.py --model-path=trained_model.pth
The CARLA simulator has a large variety of driving environments, such as traff ic lights and dynamic obstacles, including dynamic vehicles and pedestrians.
You can download the CARLA simulator from here (benchmark).
licence : LGPL 2.1