README.md

Motion Planner for a self-driving vehicle

Task	Goal	Implementation
Behaviour Planning Logic	Handle a stop sign	State machine that transitions between : 1) follow a lane 2) decelerate to the stop sign 3) stay stopped 4) follow a lane when a stop sign
Path Generation	Generate a path with optimization	Spiral path
Static Collision Checking	Check for collision on the generated path	Circle-based collision checker
Path Selection	Choose a path without collisions	Penalizing term
Velocity Profile Generation	Have a velocity planner for stop sign, lead dynamic obstacles and nominal lane maintenance	Physics functions

Prerequisites

Windows 10, Powershell, Python 3.6

Setup

1. Create a virtual environment and install dependencies from requirements.txt
2. Download CarlaSimulator.zip from https://www.coursera.org/learn/motion-planning-self-driving-cars/ and place CarlaSimulator folder into the parent folder.

Execution in PowerShell

.\execute.sh  # this copies necessary files into CARLA Simulator and runs both simulator and Python client

Cleanup in PowerShell

.\cleanup.sh  # this undo's execute.ps1