Motion Planning and Decision Making for Autonomous Vehicles
In this project I implemented two of the main components of a traditional hierarchical planner: The Behavior Planner and the Motion Planner.
Both work in unison to be able to:
- Avoid static objects (cars, bicycles and trucks) parked on the side of the road (but still invading the lane). The vehicle must avoid crashing with these vehicles by executing either a “nudge” or a “lane change” maneuver.
- Handle any type of intersection (3-way, 4-way intersections and roundabouts) by STOPPING in all of them (by default)
- Track the centerline on the traveling lane.
To accomplish this, I implemented:
- Behavioral planning logic using Finite State Machines - FSM
- Static objects Collision checking.
- Path and Trajectory generation using Cubic Spirals
- Best trajectory selection though a cost function evaluation. This cost function will mainly perform a collision check and a proximity check to bring cost higher as we get closer or collide with objects but maintaining a bias to stay closer to the lane center line.
Demo
Motion Planning and Decision Making for Autonomous Vehicles [SDC ND]
https://youtu.be/wKUuJzCgHls
Installation Instructions
You must have a powerful enough computer with an NVIDIA GPU.
Install Ubuntu 20.04.2 LTS, NVIDIA drivers, and CUDA drivers.
Install the CARLA simulator: https://carla.readthedocs.io/en/latest/start_quickstart/
Install gtest:
sudo apt-get install libgtest-dev
Install Conda and create a conda environment with Python 3.7:
conda remove --name CARLA --all
conda create --name CARLA python=3.7
conda activate CARLA
Install carla, websocket, websocket-client, pygame, numpy:
pip install carla
pip install websocket
pip install websocket-client
pip install pygame
pip install numpy
Modify this line in the file project/starter_files/CMakeLists.txt:
#set(gtest_lib /usr/src/gtest/libgtest.a)
set(gtest_lib /usr/lib/x86_64-linux-gnu/libgtest.a)
Append these lines to the file ~/.bashrc:
export CARLA_ROOT="/opt/carla-simulator"
export PYTHONPATH=$PYTHONPATH:"${CARLA_ROOT}/PythonAPI/carla/dist/carla-0.9.11-py3.7-linux-x86_64.egg"
Restart your computer.
Running Instructions:
Open a new terminal and run the following commands:
cd /opt/carla-simulator
./CarlaUE4.sh
Open a new terminal and run the following commands:
git clone https://github.com/jckuri/Motion_Planning_and_Decision_Making_for_Autonomous_Vehicles.git
cd Motion_Planning_and_Decision_Making_for_Autonomous_Vehicles/project/
./install-ubuntu.sh
cd starter_files/
cmake .
make
cd ..
./run_main.sh