Metadata-Version: 2.1
Name: GPAD
Version: 0.0.1
Summary: GPAD for CARLA PythonAPI
Project-URL: Homepage, https://github.com/renaudponcelet/GPAD
Project-URL: Bug Tracker, https://github.com/renaudponcelet/GPAD/issues
Author-email: zetmus <renaud.poncelet@gmail.com>
License-File: LICENSE
Classifier: License :: OSI Approved :: MIT License
Classifier: Operating System :: OS Independent
Classifier: Programming Language :: Python :: 3
Requires-Python: >=3.7
Description-Content-Type: text/markdown

# GPAD
__GPAD for [CARLA](https://github.com/carla-simulator/carla) PythonAPI__

## Forward
I finished my Ph.D. and I don't expect to spend much time on this project anymore.
But I shared it on GitHub just in case.

The code is not super explicit... 
So if you have questions or issues,
don't hesitate to open an issue on the [GitHub page](https://github.com/renaudponcelet/GPAD),
I would answer you when I can :blush:.

If you want to use this code or the methods detailed in it, please cite me.
I first mentioned this code at ICARCV2020 in the following paper __Safe Geometric Speed Planning Approach
for Autonomous Driving through Occluded Intersections.
R. Poncelet, A. Verroust-Blondet and F. Nashashibi. [[PDF]](https://hal.science/hal-02967740v2/document)__
```
@inproceedings{poncelet:hal-02967740,
 TITLE = {{Safe Geometric Speed Planning Approach for Autonomous Driving through Occluded Intersections}},
 AUTHOR = {Poncelet, Renaud and Verroust-Blondet, Anne and Nashashibi, Fawzi},
 URL = {https://hal.science/hal-02967740},
 BOOKTITLE = {{ICARCV 2020 - 16th International Conference on Control, Automation, Robotics and Vision}},
 ADDRESS = {Shenzhen, China},
 SERIES = {16th International Conference on Control, Automation, Robotics and Vision},
 YEAR = {2020},
 MONTH = Dec
}
```

## Requirements

This package is made to be cloned into the "PythonAPI" folder in [CARLA](https://github.com/carla-simulator/carla).
I also packaged it to allow "import GPAD".

It should run on Carla 0.9.14.

You can check the requirements.txt file.

## Structure

### Example
- main.py is an example to run the GPAD Planner detailed (in French) in my [Ph.D. thesis](https://renaudponcelet.zetmus.fr/these.pdf).

### Packages
- The Common package contains GPAD Planner, World Manager, and Utils.
- The Approaches package contains:
- [MMRIS](#MMRIS)
- [SGSPA](#SGSPA)
- Common

## Methods

### MMRIS
The MMRIS method is detailed (in French) in my [Ph.D. thesis](https://renaudponcelet.zetmus.fr/these.pdf).
This method is based on this paper (in English) [RIS](https://inria.hal.science/hal-01903318).
- RIS are calculated for different speed profiles. I compute three speed profiles: 
- A brake speed profile
- A constant speed profile
- And an acceleration speed profile
- Paths are computed for each speed profile
- The "fastest" speed profile is selected

### SGSPA
The SGSPA is detailed in the following paper:
[Safe Geometric Speed Planning Approach for Autonomous Driving through Occluded Intersections](https://hal.science/hal-02967740v2)