Status: This repository is still under development, expecting new features/papers and a complete tutorial to explain it. Feel free to raise questions/suggestions through GitHub Issues, if you want to use the current version of this repository.

car-racing

This repository provides a toolkit to test control and planning problems for car racing simulation environment.

Preview

References

If you find this project useful in your work, please consider citing following papers:

Parallelized optimization for overtake racing behavior with multiple autonomous vehicles [arXiv] [Video]

@inproceedings{he2022parallel,
  title={Autonomous racing with multiple vehicles using a parallelized optimization with safety guarantee using control barrier functions},
  author={He, Suiyi and Zeng, Jun and Sreenath, Koushil},
  booktitle={2022 IEEE International Conference on Robotics and Automation (ICRA)},
  year={2022}
}

Design model predictive control with control barrier functions for obstacle avoidance in car racing problems [IEEE] [arXiv] [NorCal Control Workshop Talk]

@inproceedings{zeng2021mpccbf,
  title={Safety-critical model predictive control with discrete-time control barrier function},
  author={Zeng, Jun and Zhang, Bike and Sreenath, Koushil},
  booktitle={2021 American Control Conference (ACC)},
  year={2021},
  volume={},
  number={},
  pages={3882-3889}
}

Features

Installation

• We recommend creating a new conda environment:

conda env create -f environment.yml
conda activate car-racing

Currently the repository is not created as standard package through setuptools. In order to run examples, run following command in terminal to add root folder into your PYTHONPATH.

export PYTHONPATH=$PYTHONPATH:`pwd`

Contributing

Execute pre-commit install to install git hooks in your .git/ directory, which allows auto-formatting if you are willing to contribute to this repository.

Please contact major contributors of this repository for additional information.

Quick-Demos

Docs

The following documentation contains documentation and common terminal commands for simulations and testing.

Offboard

System Identification

Run

python scripts/system/system_identification_test.py

This allows to identify the linearized dynamics of the racing car by regression.

Tracking performance with controllers

Run

python scripts/control/control_test.py --ctrl-policy mpc-lti --track-layout l_shape --simulation --plotting --animation 

This allows to test algorithm for tracking. The argparse arguments are listed as follow,

Racing competition with ego controller (MPC-CBF)

Run

python scripts/control/mpccbf_test.py --track-layout l_shape --simulation --plotting --animation

This allows to test algorithm for MPC-CBF controller. The argparse arguments are listed as follow,

Racing competition with ego controller (LMPC)

To save the historic states and inputs used for learning-based MPC, run the following command for each track layout firstly:

python scripts/control/lmpc_test.py \
--track-layout l_shape --lap-number 7 --simulation --save-trajectory

Then you can run the following command:

python scripts/control/lmpc_test.py \
--track-layout l_shape --lap-number 10 --simulation --direct-lmpc --animation --plotting

This allows to test algorithm for learning-based MPC. The argparse arguments are listed as follow,

Racing competition with ego planner and controller

To save the historic states and inputs used for learning-based MPC, run the following command for each track layout firstly:

python scripts/planning/overtake_planner_test.py \
--track-layout l_shape --lap-number 7 --simulation --number-other-agents 0 --save-trajectory

Then you can run the following command:

python scripts/planning/overtake_planner_test.py \
--track-layout l_shape --lap-number 10 --simulation --direct-lmpc --animation --plotting --number-other-agents 3

This allows to test algorithm for racing competition. The argparse arguments are listed as follow,

Realtime (under development)

To start the simulator, run the following command in terminal:

roslaunch car_racing car_racing_sim.launch track_layout:=goggle

This allows you to run the simulator and visualization node. Change the track_layout, you can get differnt tracks. The center line of the race track is plotted in red dash line; the optimal trajectory of the race track is plotted in green line. To add new vehicle with controller in the simulator, run the following commands in new terminals:

rosrun car_racing vehicle.py --veh-name vehicle1 --color blue --vx 0 --vy 0 --wz 0 --epsi 0 --s 0 --ey 0

rosrun car_racing controller.py --ctrl-policy mpc-lti --veh-name vehicle1

These allow to start nodes for the vehicle and corresponding controller. The argparse arguments are listed as follow,