🤖 CS106.L22.KHCL - Trí tuệ nhân tạo 🤖
Trần Minh Tiến - 18521492
Nguyễn Hữu Doanh - 18520606
Nguyễn Xuân Đỉnh - 18520603
Carla self-driving based on lane detection. We use model DeeplabV3+MobileNetV2 in either pytorch model or openvino model
*This code is test on Window10, with 4GB GPU Nvidia GTX-1050 and Ubuntu 22.04, with 4GB GPU Nvidia GTX-1060!!!
- x64 system
- 165 GB disk space
- at least 6 GB GPU (8 GB is recommended)
- Two TCP port (2000 and 2001)
- Python version 3.7
- Carla version 0.9.10
Window setup
C:\> SET PATH=C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v11.1\bin;%PATH%
C:\> SET PATH=C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v11.1\extras\CUPTI\lib64;%PATH%
C:\> SET PATH=C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v11.1\include;%PATH%
C:\> SET PATH=C:\tools\cuda\bin;%PATH%- <path-to-python-3.7>\Lib\site-packages
- Create file: "carla.pth"
- Inside carla.pth write this:
<path-to-carla>\PythonAPI\carla\dist\carla-0.9.10-py3.7-win-amd64.egg$ export PYTHONPATH=$PYTHONPATH:<path-to-working-directory/Carla/PythonAPI/carla/dist/carla-0.9.13-py3.7-linux-x86_64.egg
# If the newest OpenCV get error when running code, you should run this
export LD_PRELOAD=/usr/lib/x86_64-linux-gnu/libstdc++.so.6- Enter the CARLA simulator folder and run:
$ ./CarlaUE4.exe- Enter the root of this repo and run:
If you use one version python:
$ python carla_sim.pyWith specify argument:
$ python carla_sim.py --fps=30 --mapid=4 --model openvinoLink youtube: https://www.youtube.com/watch?v=5EexRdqtiHM&list=PLc0OzM-aFT-SIF2rkJ2lLJwLAC5tLIsLm&index=1
Demo with high resolution
Demo with rainning:
Demo with night:
[1] https://github.com/thomasfermi/Algorithms-for-Automated-Driving