A Waypoint Tracking Controller for Autonomous Vehicles Using CARLA Simulator

The main objective of this work is the development and testing of a waypoint tracking controller for autonomous vehicles. The waypoint tracking controller is developed in Python and tested using CARLA Simulator, an open-source simulator for autonomous driving research. The waypoint tracking controller is developed by implementing a PID controller for longitudinal control and a pure pursuit controller for lateral control. The PID gains are tuned to precisely track the reference speed profile. The pure pursuit controller is implemented to accurately follow the desired path. The developed controller is tested in CARLA Simulator and the simulation results indicate that the vehicle tracks 100% of the waypoints specified in the trajectory. The waypoint tracking controller also performs well in closely tracking the reference speed profile. The developed waypoint tracking controller is precise and suitable for application in autonomous vehicles for urban driving environments