Perception

This year we have created a wrapper that will feed all the perception data(E.g. Obstacles, Milestones Waypoints, Velocity, Location, Lane Boundary Waypoints) into your controller. For details, you can check the code here

The perception distance for obstacles will remained fixed across all the races. This distance is 100m.

Obstacles

The perception module returns all the obstacles within the sensing radius of the vehicle. Each obstacle is a class of carla.Actor, which has a type, id, and other properties. You could find more details here

Milestones Waypoints

These are the waypoints along the track that the vehicle must pass. We provide you with all FUTURE waypoints to reach. These milestones waypoints are given in \([x,y,z]\) global coordinates and appear as a blue gate on the map when your vehicle approaches. The competitors must reach these milestones to score.

Velovity

Velovity is directly provided at a 3D vector(Vx, Vy, Vz), you could check carla.Vector3D for more details.

Location

The location contains the state of the vehicle with the position and rotation. It is a class of carla.Transform. You can read more here

Lane Boundary Waypoints

This tells you information aboout the current lane your vehicle is in. This contains 20 waypoinst on the left and right lane boundary for the next 20 meters.