GPAD 0.0.1

GPAD for CARLA PythonAPI

GPAD

GPAD for CARLA PythonAPI

Forward

I finished my Ph.D. and I don't expect to spend much time on this project anymore. But I shared it on GitHub just in case.

The code is not super explicit... So if you have questions or issues, don't hesitate to open an issue on the GitHub page, I would answer you when I can :blush:.

If you want to use this code or the methods detailed in it, please cite me. I first mentioned this code at ICARCV2020 in the following paper Safe Geometric Speed Planning Approach for Autonomous Driving through Occluded Intersections. R. Poncelet, A. Verroust-Blondet and F. Nashashibi. [PDF]

@inproceedings{poncelet:hal-02967740,
 TITLE = {{Safe Geometric Speed Planning Approach for Autonomous Driving through Occluded Intersections}},
 AUTHOR = {Poncelet, Renaud and Verroust-Blondet, Anne and Nashashibi, Fawzi},
 URL = {https://hal.science/hal-02967740},
 BOOKTITLE = {{ICARCV 2020 - 16th International Conference on Control, Automation, Robotics and Vision}},
 ADDRESS = {Shenzhen, China},
 SERIES = {16th International Conference on Control, Automation, Robotics and Vision},
 YEAR = {2020},
 MONTH = Dec
}

Requirements

This package is made to be cloned into the "PythonAPI" folder in CARLA. I also packaged it to allow "import GPAD".

It should run on Carla 0.9.14.

You can check the requirements.txt file.

Structure

Example

• main.py is an example to run the GPAD Planner detailed (in French) in my Ph.D. thesis.

Packages

• The Common package contains GPAD Planner, World Manager, and Utils.
• The Approaches package contains:
• MMRIS
• SGSPA
• Common

Methods

MMRIS

The MMRIS method is detailed (in French) in my Ph.D. thesis. This method is based on this paper (in English) RIS.

• RIS are calculated for different speed profiles. I compute three speed profiles:
• A brake speed profile
• A constant speed profile
• And an acceleration speed profile
• Paths are computed for each speed profile
• The "fastest" speed profile is selected

SGSPA

The SGSPA is detailed in the following paper: Safe Geometric Speed Planning Approach for Autonomous Driving through Occluded Intersections