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Driving Simulator for reinforcement learning and imitation learning

This repository provides a driving simulator specifically for reinforcement learning or imitation learning. The scenario is generated based on highway-env, where the MDP model of the highway driving scenario is naturally embedded. The 3-D rendering of the driving simulator is based Carla. (Without the installation of Carla, you can still run the driving simulator on 2-D view). You can control one car with a keyboard or steering wheel & pedals. Moreover, you can share the road with your trained autonomous driving algorithm.

The customized map in Carla

What you can do with the codes

  • Data Collection for Training: As a driving simulator, it can collect your driving data used for imitation learning. States and actions in MDP are recorded.
  • Testing the trained policy: You can load your trained autonomous driving policy into one neighbor car and share the road with it. As a result, something interesting can be done. For example, you can play as a crazy driver and try to crash with the autonomous driving car to test its behavior in a corner case.

Key dependencies

  • highway-env == 1.2.0
  • gym == 0.15.4
  • numpy == 1.16.6
  • tensorflow == 1.14.0 (to load the pretrained autonomous driving policy, which is built in tensorflow)
  • carla == 0.9.13

How to run the codes

In order to use the 3-D animation feature, you need to install the Carla (and also run the Carla server in a separate terminal). I have pre-built a Carla repository with the customized map on it (via Roadrunner). You can download my customized version via the google drive link

Use the driving simulator to collect driving data

  • use the keyboard to control (arrow keys): python run_simulator_keyboard.py --no-carla-rendering (2D) or python run_simulator_keyboard.py --carla-rendering (3D)
  • use the steering wheel and pedal to control: python run_simulator_pedal.py --no-carla-renderinge (2D) or python run_simulator_pedal.py --carla-rendering (3D)

Use the driving simultaor to play together with your trained autonomous vehicle

  • use the keyboard to control (arrow keys): python run_simulator_keyboard_tp.py --no-carla-rendering (2D) or python run_simulator_keyboard_tp.py --carla-rendering (3D)
  • use the steering wheel and pedal to control: python run_simulator_pedal_tp.py --no-carla-rendering (2D) or python run_simulator_pedal_tp.py --carla-rendering (3D)

Tips

  • You can adjust the size of the simulation screen via the arg ratio, for example, python run_simulator_keyboard.py --ratio 0.5
  • To test your own autonomous driving algorithm, you can integrate your own trained policy network in this simulator
  • The Logitech G29 steering wheels and pedals are used for this repository. It should also work with other Logitech steering wheels.

Some screen captures

2D simulator (green car is controlled by human with keyboard, and yellow car is controlled by trained driving policy)

3D simulator (green car is controlled by human with keyboard, and yellow car is controlled by trained driving policy)

Human participant with driving simulator