CARLA Simulator - Python API (Advanced)

Jul 11, 2023 By Han Wu

A Collection of Autonomous Driving Tutorials in CARLA Simulator.


After getting familiar with CARLA API and Scenario Runner for autonomous driving challenge, I plan to write a series of autonomous driving algorithms in CARLA Simulator, including control, perception, localization, prediction & planning.

For each advanced topic, I will create separate posts with detailed information. This page will serve as a hub, providing links to each specific topic for navigation purposes.

The source code used in this tutorial is available on GitHub:

1git clone

Example 07: 3D Bounding Boxes

This example is available in the official CARLA Tutorials.


Example 08: Draw Waypoints


Example 09: Basic Navigation