Author

Nishant AwdeshKumar Pandey

Research Paper

The home directory has the research paper written Paper.pdf

Environment Setup

1. Install Anaconda with Python 3.5 or higher.
2. Install CNTK or install Tensorflow
3. Install h5py
4. Install Keras and configure the Keras backend to work with TensorFlow (default) or CNTK.
5. Install AzCopy. Be sure to add the location for the AzCopy executable to your system path.
6. Install the other dependencies. From your Anaconda environment, run "InstallPackages.py" as root or administrator. This installs the following packages into your environment:
   • jupyter
   • matplotlib v. 2.1.2
   • image
   • keras_tqdm
   • opencv
   • msgpack-rpc-python
   • pandas
   • numpy
   • scipy

Running the package

1. To run the package and create waypoints for the Model predictive controller. Run python waypoints.py and control the car manually and make it follow the complex and straight paths.
2. Run python client_controller.py to run Model predictive controller. Start the recording while this command runs to collect the dataset.
3. Open DataExplorationAndPreparation.ipynb and run all the cells.
4. Open TrainModel.ipynb and run all the cells to train the model. Modify the Region of interest, and various hyperparameters according to the dataset size and needs.
5. Run drive_model.py to test the model.

Outputs

1. Video output: https://drive.google.com/drive/folders/1iXjCQh5sCZEpg1p6fzWvC7YgAyeC9uQF
2. Data Collected: https://drive.google.com/drive/folders/1_nsHW8zgRbLLXc5W6bpPYwH0OgZFlNOx

Paper

Research Paper

References

1. Airsim: https://github.com/microsoft/AutonomousDrivingCookbook/tree/master/AirSimE2EDeepLearning
2. Model predictive controller: https://github.com/asap-report/carla/tree/racetrack/PythonClient/racetrack