Collaborative-Vehicle-2-Vehicle-System

Vehicle to vehicle communication systems, for intelligent collaborative driving.

Setup - Pyenv

Creating environment and installing dependencies

git clone https://github.com/REGATTE/Collaborative-Vehicle-2-Vehicle-System.git
cd Collaborative-Vehicle-2-Vehicle-System
python3 -m venv .cvs
source .cvs/bin/activate
python3 setup.py
pip3 install -r requirements.txt

Setup - conda

Creating conda environment.

conda env create -f environment.yml

The above command creates a conda environment named cvs and installs the packages that are necessary.

Simulation

Launch with a bash file

update the file sim_launch with your password and path to the project.

run

./sim_launch.bash

Launch manually

If you need to install carla, follow these steps - Install Carla

In the first terminal

cd carla_simulator
source {carla_env}/bin/activate

./CarlaUE4.sh

In another terminal, with the venv activated

cd /path/to/Collaborative-Vehicle-2-Vehicle-System
python3 main.py

To visualize ego_vehicle data, in another terminal [with the venv activated]

cd /path/to/Collaborative-Vehicle-2-Vehicle-System/agents
python3 visualize_ego.py

Visual Results

Ego Vehicle	Smart Vehicle 1	Smart Vehicle 2	Smart Vehicle 3	Smart Vehicle 4

All the vehicles are autonomous and do not follow a custom path waypoint.

Ego Car BEV Visualisation

Combined data LiDAR View

Errors

we have compiled all the errors that we have faced, and how to fix them. The instructions can be found here

License

This project is licensed under the Apache License.

Collaborators

• REGATTE
• bundle-adjuster
• minnakan