General Information

This repository contains Euro NCAP tests in CARLA simulator.

• test_1 folder contains CCRs(Car-to-Car Rear stationary) test scenario in which an ego car accelerates and then brakes in front of a stationary car from 100 [m].

The folder contains a few utilities:

1. Controller - contains simple controller for the throttle/brake based on the current relative distance.
2. Dynamics - retrieve information about the state of the ego car.
3. Scene - functions to manage the simulation.
4. Visualizer - functions to plot ground-truth bounding box around the stationary car.
5. Analysis - parse the data.csv file and plot a few insights from the simulation.

• test_2 folder holds the modified manual_control.py version, integrated with lane detector, visualize the vehicle's current lanes boundaries. (Currently contains a bug in the waypoint selection 28/02/2024)

Prerequisite

1. CARLA docker image - version: 0.9.15

            docker pull carlasim/carla:0.9.15
   

2. CARLA Python package, install with:

            pip install carla==0.9.15
   

3. docker compose.

Install

1. Clone this repository:

            git clone [email protected]:iftahnaf/ccr_ncap.git            
   

Note: make sure that you can run docker without sudo

Run

Running with docker-compose

Using docker-compose, you will launch server(CARLA simulator) and client(Python API client) services for the simulation. Running with:

    docker compose up

Changing the script is done via altering the command in the docker-compose.yml:

      command: >
        /bin/bash -c "sleep 10 && python3 test_1/main.py"

Running from terminal:

Open two terminals.

In the first terminal:

            docker run --privileged --gpus all --net=host -e DISPLAY=$DISPLAY carlasim/carla:0.9.15 /bin/bash ./CarlaUE4.sh -RenderOffScreen

In the second terminal:

            cd ccr_ncap/
            python3 ./test_1/main.py