scenic.simulators.carla

Interface to the CARLA driving simulator.

This interface has been tested with CARLA versions 0.9.9, 0.9.10, and 0.9.11. It supports dynamic scenarios involving vehicles, pedestrians, and props.

The interface implements the scenic.domains.driving abstract domain, so any object types, behaviors, utility functions, etc. from that domain may be used freely. For details of additional CARLA-specific functionality, see the world model scenic.simulators.carla.model.

Submodules

model

Scenic world model for traffic scenarios in CARLA.

actions

Actions for dynamic agents in CARLA scenarios.

behaviors

Behaviors for dynamic agents in CARLA scenarios.

simulator

Simulator interface for CARLA.

blueprints

CARLA blueprints for cars, pedestrians, etc.

controller

This module contains PID controllers to perform lateral and longitudinal control.

misc

Module with auxiliary functions.