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.

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

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

Parallelized optimization for overtake racing behavior with multiple autonomous vehicles [IEEE] [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}
}

• We recommend creating a new conda environment:

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

Run following command in terminal to install the car racing simulator package.

pip install -e .

In this project, pytest is used to test the code autonomously after pushing new code to the repository. Currently, three files in the tests folder are used for testing pid or mpc tracking controller, mpc-cbf controller and racing game planner, respectively. To test other features, add files to the tests folder and update the tests.yml file under the .github/workflows folder.

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.

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

Run

python car_racing/tests/system_identification_test.py

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

Run

python car_racing/tests/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,

Run

python car_racing/tests/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,

Run

python car_racing/tests/ilqr_test.py --track-layout l_shape --simulation --plotting --animation

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

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

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

Then you can run the following command:

python car_racing/tests/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,

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

python car_racing/tests/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 car_racing/tests/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,

Currently, path planner and trajecotry planner are available for the overtaking maneuver. Changing the varibale self.path_planner in base.py to True allows the controller to simulate with path planner.

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,