https://github.com/ShisatoYano/AutonomousVehicleControlBeginnersGuide

Python sample codes and documents about Autonomous vehicle control algorithm. This project can be used as a technical guide book to study the algorithms and the software architectures for beginners.
https://github.com/ShisatoYano/AutonomousVehicleControlBeginnersGuide

algorithm autonomous-driving autonomous-navigation autonomous-vehicles calibration localization mapping object-detection object-tracking path-planning path-tracking perception python slam

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Python sample codes and documents about Autonomous vehicle control algorithm. This project can be used as a technical guide book to study the algorithms and the software architectures for beginners.

• Host: GitHub
• URL: https://github.com/ShisatoYano/AutonomousVehicleControlBeginnersGuide
• Owner: ShisatoYano
• License: mit
• Created: 2022-07-01T14:00:16.000Z (almost 3 years ago)
• Default Branch: main
• Last Pushed: 2025-04-18T15:39:36.000Z (about 1 month ago)
• Last Synced: 2025-04-19T04:51:37.872Z (about 1 month ago)
• Topics: algorithm, autonomous-driving, autonomous-navigation, autonomous-vehicles, calibration, localization, mapping, object-detection, object-tracking, path-planning, path-tracking, perception, python, slam
• Language: Python
• Homepage:
• Size: 130 MB
• Stars: 674
• Watchers: 17
• Forks: 110
• Open Issues: 3
• Metadata Files:
  • Readme: README.md
  • Funding: .github/FUNDING.yml
  • License: LICENSE

Awesome Lists containing this project

• awesome-mobile-robotics - Autonomous Vehicle Control Beginners Guide

README

        
# AutonomousVehicleControlBeginnersGuide

[![Linux_CI](https://github.com/ShisatoYano/AutonomousDrivingSamplePrograms/actions/workflows/Linux_CI.yml/badge.svg)](https://github.com/ShisatoYano/AutonomousDrivingSamplePrograms/actions/workflows/Linux_CI.yml) [![Windows_CI](https://github.com/ShisatoYano/AutonomousDrivingSamplePrograms/actions/workflows/Windows_CI.yml/badge.svg)](https://github.com/ShisatoYano/AutonomousDrivingSamplePrograms/actions/workflows/Windows_CI.yml) [![MacOS_CI](https://github.com/ShisatoYano/AutonomousDrivingSamplePrograms/actions/workflows/MacOS_CI.yml/badge.svg)](https://github.com/ShisatoYano/AutonomousDrivingSamplePrograms/actions/workflows/MacOS_CI.yml) [![CodeFactor](https://www.codefactor.io/repository/github/shisatoyano/autonomousvehiclecontrolbeginnersguide/badge)](https://www.codefactor.io/repository/github/shisatoyano/autonomousvehiclecontrolbeginnersguide)  

Python sample codes and documents about Autonomous vehicle control algorithm. This project can be used as a technical guide book to study the algorithms and the software architectures for beginners.  

## Table of Contents

* [What is this?](#what-is-this)

* [Goal of this project](#goal-of-this-project)

* [Requirements](#requirements)

* [How to use](#how-to-use)

* [Examples of Simulation](#examples-of-simulation)

    * [Localization](#localization)

        * [Extended Kalman Filter Localization](#extended-kalman-filter-localization)

    * [Mapping](#mapping)

        * [NDT Map Construction](#ndt-map-construction)

    * [Path Tracking](#path-tracking)

        * [Pure pursuit Path Tracking](#pure-pursuit-path-tracking)

        * [Rear wheel feedback Path Tracking](#rear-wheel-feedback-path-tracking)

        * [LQR(Linear Quadratic Regulator) Path Tracking](#lqrlinear-quadratic-regulator-path-tracking)

        * [Stanley steering control Path tracking](#stanley-steering-control-path-tracking)

    * [Perception](#perception)

        * [Rectangle fitting Detection](#rectangle-fitting-detection)

        * [Sensor's Extrinsic Parameters Estimation](#sensors-extrinsic-parameters-estimation)

* [Documents](#documents)

* [License](#license)

* [Use Case](#use-case)

* [Contribution](#contribution)

* [Author](#author)

## What is this?

This is a sample codes collections about Autonomous vehicle control algorithm. Each source codes are implemented with Python to help your understanding. You can fork this repository and use for studying, education or work freely.  

## Goal of this project

I want to release my own technical book about Autonomous Vehicle algorithms in the future. The book will include all of codes and documents in this repository as contents.  

## Requirements

Please satisfy with the following requirements on native or VM Linux in advance.  

For running each sample codes:  

* [Python 3.13.x](https://www.python.org/)

* [Matplotlib](https://matplotlib.org/)

* [NumPy](https://numpy.org/)

* [SciPy](https://scipy.org/)

For development:

* [pytest](https://docs.pytest.org/en/7.4.x/) (for unit tests)

* [pytest-cov](https://github.com/pytest-dev/pytest-cov) (for coverage measurement)

For setting up the environment with Docker:

* [VS Code](https://code.visualstudio.com/)

* [Docker](https://www.docker.com/)

## How to use

1. Clone this repository  

    ```bash

    $ git clone https://github.com/ShisatoYano/AutonomousVehicleControlBeginnersGuide

    ```

2. Set up the environment for running each codes

    * Set up with Docker on WSL:

        * Before cloning thi repo, [install Docker](https://docs.docker.com/desktop/install/linux-install/) in advance

        * Clone this repo following the above Step 1

        * Open this repo's folder by VSCode

        * [Create Dev Container](https://code.visualstudio.com/docs/devcontainers/create-dev-container)

        * And then, all required libraries are installed automatically

3. Execute unit tests to confirm the environment were installed successfully

    ```bash

    $ . run_test_suites.sh

    ```

4. Execute a python script at src/simulations directory

    * For example, when you want to execute localization simulation of Extended Kalman Filter:

        ```bash

        $ python src/simulations/localization/extended_kalman_filter_localization/extended_kalman_filter_localization.py

        ```

5. Add star to this repository if you like it!!

## Examples of Simulation

### Localization

#### Extended Kalman Filter Localization

![](src/simulations/localization/extended_kalman_filter_localization/extended_kalman_filter_localization.gif)  

### Mapping

#### NDT Map Construction

![](src/simulations/mapping/ndt_map_construction/ndt_map_construction.gif)  

### Path Tracking

#### Pure pursuit Path Tracking

![](src/simulations/path_tracking/pure_pursuit_path_tracking/pure_pursuit_path_tracking.gif)  

#### Rear wheel feedback Path Tracking

![](src/simulations//path_tracking/rear_wheel_feedback_tracking/rear_wheel_feedback_tracking.gif)  

#### LQR(Linear Quadratic Regulator) Path Tracking

![](src/simulations/path_tracking/lqr_path_tracking/lqr_path_tracking.gif)  

#### Stanley steering control Path Tracking

![](src/simulations/path_tracking/stanley_path_tracking/stanley_path_tracking.gif)  

### Perception

#### Rectangle fitting Detection

![](src/simulations/perception/point_cloud_rectangle_fitting/point_cloud_rectangle_fitting.gif)  

#### Sensor's Extrinsic Parameters Estimation

Estimation by Unscented Kalman Filter  

![](src/simulations/perception/sensor_auto_calibration/sensor_auto_calibration.gif)  

## Documents

Design documents of each Python programs are prepared here. The documents are still not completed. They have been being updated. If you found any problems in them, please tell me by creating an issue.  

[Documents link](/doc/DESIGN_DOCUMENT.md)  

## License

MIT  

## Use Case

I started this project to study an algorithm and software development for Autonomous Vehicle system by myself. You can also use this repo for your own studying, education, researching and development.  

If this project helps your task, please let me know by creating a issue.  

Any paper, animation, video as your output, always welcome!! It will encourage me to continue this project.  

Your comment and output is added to [this list of user comments](/USERS_COMMENTS.md).  

## Contribution

Any contribution by creating an issue or sending a pull request is welcome!! Please check [this document about how to contribute](/HOWTOCONTRIBUTE.md).  

## Author

[Shisato Yano](https://github.com/ShisatoYano)