Team Members:
- Zhongheng (Heng) Li aka heng2j
- Nicolas Morant aka DevGlitch
- Huayu (Jack) Tsu aka codejacktsu
We wanted to build a level 4 autonomous law enforcement vehicle, Interceptor 4.0, that patrols neighborhoods and when needed chases vehicles.
The challenges Interceptor 4.0 would face are as follows: lane detection and tracking, object detection and avoidance, GPS navigation, self-parking, specific vehicle tracking, and car chasing.
https://github.com/heng2j/delamain/blob/master/Project_Report/Project_Report_Team_Delamain.pdf
https://github.com/heng2j/delamain/tree/master/demos
Follow the below instructions in order to run Interceptor 4.0 on your machine.
- CARLA v0.9.10
https://github.com/carla-simulator/carla
This project was developed using this specific version of CARLA.
We cannot guarantee that it would work with any higher version.
- Clone the repo
git clone https://github.com/heng2j/delamain.git
- Install any missing packages.
- We recommend using a conda environment with Python 3.7.
-
Start Server Map: Open CARLAUE4.exe
-
Load the map that you'd like. By default CARLA loads map Town03
-
Run any of the command below.
Please make sure you are in the correct directory.
Third iteration of our base model with full capabilities.
Press "i" to activate GPS from current location to destination.
Press "p" to toggle autopilot
Press "h" to toggle hotkey map
python base_model3.py
This file gives you a short demo of the navigation system. You can change the destination location. Please ensure the destination is for the load CARLA map.
python base_model_nav.py
This file gives you a short demo of the self-parking feature. In this file you have the option to change from perpendicular to parallel parking.
python base_model_park.py
This script enables you to visualize the road network of any CARLA map.
python road_network_map.py
This script gave you the ability to get the exact location of the spectator view. It gives you the location in CARLA Location (x, y, z).
python spectator_location.py
This script enables you to store the topology data (edges and nodes) in two parquet files. These files are in a format that enables you to use with Network X.
python topology_edge_and_node.py.py
This script is a visualizer in CARLA of the topology waypoints. Make sure to run the previous script in order for this one to work.
python topology_waypoints_visualizer.py
Drive as leading car
python base_model3_car_chasing.py
Run as chasing car
python car_chase_demo_v2.py
Run car chasing with dynamic Frenet short-term trajectory planning
python car_chase_demo_v3.py
Distributed under the MIT License. See LICENSE
for more information.
Zhongheng (Heng) Li - Github
Nicolas Morant - Personal Website & Github
Huayu (Jack) Tsu - Github
Project Link: https://github.com/heng2j/delamain