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EMplanner_Carla

Implementation of motion planning for self-driving cars based on EM Planner in Carla

Control

Longitudinal Control based on PID

Lateral Control based on MPC and LQR

Planning

Path Planning based on S-L graph

Speed Planning based on S-T graph(TODO)

Requirements

  • Carla Version 0.9.12

  • Python Version 3.8.12