Simulacija autonomnih vozila u CARLA programskom okviru

undergraduate thesis

• Title (english): Simulation of Autonomous Vehicles in CARLA Simulator
• Author: Karlo Šarić
• Mentor: Vladimir Čeperić (mentor)
• Committee member: Vladimir Čeperić (predsjednik povjerenstva)
• Committee member: Vlatko Galić (član povjerenstva)
• Committee member: Alma Traživuk (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2023-09-06, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Computing

Abstract

U ovom završnom radu istražuje se simulacija autonomnih vozila u CARLA programskom okviru otvorenog koda. Analizirana je transformacija industrije simulacije vožnje, odnosno njena primjena u istraživanju i napretku autonomnih vozila. Detaljno je opisana arhitektura CARLA-e, s naglaskom na funkcionalnosti vozila, pješaka, senzora i ostalih aktera. Pokrenuta je simulacija vožnje jednog autonomnog vozila sa prikvačenom kamerom, LIDAR-om i radarom te su prokomentirani rezultati. Rezultati snimljeni kamerom testirani su za detekciju objekata putem YOLOv7 modela. Na kraju, dan je uvid u tehnike detekcije objekata, granične okvire, reinforcement learning(RL) i učenje oponašanjem u kontekstu CARLA simulatora.

Abstract (english)

This paper explores the simulation of autonomous vehicles in the open source framework CARLA. The transformation of the driving simulation industry, i.e. its application in the research and development of autonomous vehicles, is analyzed. The architecture of CARLA is described in detail with an emphasis on the functionality of vehicles, pedestrians, sensors and other actors. The simulation of driving an autonomous vehicle with an attached camera, LIDAR and radar was started and the results were commented. The results captured by the camera were tested for object detection using the YOLOv7 model. Finally, in the context of the CARLA simulator, is given an insight into object detection techniques, bounding boxes, reinforcement learning (RL) and imitation learning.

• Keywords: CARLA simulator; autonomna vožnja; simulacija autonomne vožnje; senzori; učenje pojačavanjem; učenje oponašanjem; detekcija objekata
• Keywords (english): CARLA simulator; autonomous driving; autonomous driving simulation; sensors; reinforcement learning; imitation learning; object detection
• Language: croatian
• URN:NBN: urn:nbn:hr:168:328021
• Study programme: Title: Computing; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka računarstva (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka računarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2023-10-11 10:37:28