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carla-simulator / carla

Open-source simulator for autonomous driving research.
http://carla.org
MIT License
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The vehicle collided with the roundabout #7928

Open lingyixia opened 2 weeks ago

lingyixia commented 2 weeks ago
lingyixia commented 2 weeks ago

Carla: 0.9.15 platform:Ubuntu 20.04.6 LTS In town15, with script https://github.com/carla-simulator/carla/blob/dev/PythonAPI/examples/automatic_control.py, manally setting start at carla.Transform(carla.Location(x=356.35000000, y=130.00000000, z=120.00000000), carla.Rotation(yaw=-90, pitch=0, roll=0)) to destination:carla.Location(x=359.26000000, y=128.72000000, z=120.00000000), the vehicle collided with a roundabout, it seemed that the vehicles did not align with the waypoints built by global planner. It there a method to ensure an entire travel ? Screenshot from 2024-07-09 09-22-21

joel-mb commented 1 week ago

Hi @lingyixia, Seems that the vehicle controller is not doing a good work in this situation. The automatic_control script uses the agents library to control the vehicle (https://github.com/carla-simulator/carla/tree/dev/PythonAPI/carla/agents). It implements a quite simple controller and may fail for some vehicles in some turns (such as small roundabouts). You may want to fine-tune some of the internal parameters of the agent's controller for your use-case.