Reinforcement Learning with the CARLA Driving Simulator

Senior Design Project 2024

University of Detroit Mercy

RL.run.cropped.two.runs.mp4

Final Presentation PPT:

• finalPresentation.pptx

Python Environment requirements.txt:

• requirements.txt

Edited Carla Env File:

• carla_env.py

Training File:

• train.py

Model Evaluation File:

• gym_carla_eval.py

Using:

• CARLA

  • CARLA: An Open Urban Driving Simulator, Alexey Dosovitskiy et. Al., 2017

• gym-carla

  • Interpretable End-to-end Urban Autonomous Driving with Latent Deep Reinforcement Learning, Jianyu Chen et. Al., 2020

• Gymnasium

  • OpenAI Gym, Greg Brockman, et. Al., 2016

• Stable Baselines3

Environment:

• Miniconda
• Python 3.8
• CARLA 0.9.14