Model-Predictive-Control-Carla

Model Predictive Controller tested on Carla simulator on Race track with reference velocity.

Getting Started

Python implementation of Model Predictive Controller (MPC) based on scipy optimization library.
This is the final project in introduction to self driving cars specialization on coursera.

Prerequisites

python=3.6
CARLA>=0.9.5
Pillow>=3.1.2
numpy>=1.14.5
protobuf>=3.6.0
pygame>=1.9.4
matplotlib>=2.2.2
future>=0.16.0
scipy>=0.17.0

Results

Trajectory

Velocity