Seyir
An autonomous driving stack for Turkish traffic, built from scratch in CARLA 0.9.15.
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Perception
YOLOv11n detects objects, UFLD-v2 finds lanes, Depth-Anything-V2 estimates depth. LiDAR projection fuses them into a 100×100 occupancy grid.
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Prediction
A SocialTransformer forecasts several possible trajectories for every road user.
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Planning
Global A* sets the route, a behaviour state machine picks the manoeuvre, and PPO learns the local decisions.
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Control
An MPC planner in CasADi and IPOPT returns commands in 50 ms or less.
Written in Python and C++ with PyTorch, FastAPI, React and Docker. The road at the top of this page is a small sketch of the same loop.