ydcttt / gpir

Real-Time Trajectory Planning for Autonomous Driving with Gaussian Process and Incremental Refinement

GPIR

This is the project page of the paper "Real-Time Trajectory Planning for Autonomous Driving with Gaussian Process and Incremental Refinement", to appear in ICRA 2022. GPIR is developed aiming to provide an unified real-time trajectory planning framework in dynamic environment for autonomous driving.

About

Paper: ArXiv

Demo video: YouTube

Author: Jie Cheng, Yingbing Chen, Qingwen Zhang, Lu Gan and Ming Liu, RAM-LAB

If you find this repo helpful for your research, please cite our related paper.

@inproceedings{Jie2022gpir,
  title        = {Real-Time Trajectory Planning for Autonomous Driving with {G}aussian Process and Incremental Refinement},
  author       = {Cheng, Jie and Chen, Yingbing and Zhang, Qingwen and Gan, Lu and Liu, Chengju and Liu, Ming},
  booktitle    = {2022 IEEE International Conference on Robotics and Automation (ICRA)},
  year         = {2022},
  organization = {IEEE}
}

Prerequisites

Our software is developed and tested in Ubuntu20.04 with ROS noetic. Follow this link to install noetic.

Simulation environment

We use Carla-0.9.11 as the simulator (download via this link), and recommend to use a conda environment.

conda create -n carla_py37 python=3.7

To use the Carla PythonAPI, you need to export the path or install it

export PYTHONPATH=$PYTHONPATH:/carla_directory/PythonAPI/carla/dist/carla-0.9.11-py3.7-linux-x86_64.egg

or

pip install /carla_directory/PythonAPI/carla/dist/carla-0.9.11-py3.7-linux-x86_64.egg

Note that ROS melodic or below use Python2, and you may need to change python version above accordingly.

Build

Clone the repository

cd ${YOUR_WORKSPACE}/src
git clone --recurse-submodules https://github.com/jchengai/gpir.git

Setup dependencies

cd gpir 
conda activate carla_py37
pip install -r ./requirements.txt
bash ./setup.sh

You may check the pip path via which pip.

Build gpir

cd ../../ 
catkin_make -DCMAKE_BUILD_TYPE=RELEASE -j4
source ./devel/setup.sh

Run a demo

Start carla-0.9.11

cd to_your_carla_folder && ./carla.sh

Start carla ros bridge

roslaunch planning_core carla_setup.launch

Start gp_planner

roslaunch planning_core planning.launch

Start the control console

Since this repo does not contain the behavior planner, we provide a simple interface for manually controlling the behavior of the Ego vehicle.

roslaunch planning_core keyboard.launch

Acknowledgements

We would like to express sincere thanks to the authors of the following tools and packages:

• Opendrive map parser: ad_map
• QP solver: osqp
• iSAM solver: GTSAM

License

The source code is released under MIT license.

Disclaimer

This is research code, it is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of merchantability or fitness for a particular purpose.