Self-Driving-Car-CARLA

Autonomous driving agent in the CARLA Simulator trained using reinforcement learning.

Method to run it with carla:

1. Open a terminal in the main installed carla package folder. Run the following command to execute package file and start the simulation:

./CarlaUE4.sh  

2. Copy and paste the file main.py(in this repo) inside your installed carla package at location PythonAPI/examples folder.
3. Open another terminal inside PythonAPI/example and run following command to start collecting data:

python3 main.py --sync -m Town01 -l  

4. Optional- Run in parallel in new terminal

python3 generate_traffic.py -n 50 -w 50      # spawn 50 vehicles and pedestrians 
python3 dynamic_weather.py                   # collect the dataset using varying weather conditions. 

Add your own models via sources/models.py

Results

Imitation

DDPG

Chart

              Town1(Train)                              Town2(Test)

Graphs