Implementation:CARLA simulator Carla Controller

Knowledge Sources	CARLA
Domains	Road Network, Traffic Signals
Last Updated	2026-02-15 05:00 GMT

Overview

The Controller class represents a signal controller in the OpenDRIVE road network, grouping traffic signals and associating them with junctions for coordinated signal management.

Description

carla::road::Controller is a MovableNonCopyable class that models an OpenDRIVE controller element. Each controller has:

• Identity -- a unique ContId, a name string, and a sequence number for ordering
• Signals -- a std::set<SignId> of signal IDs managed by this controller
• Junctions -- a std::set<JuncId> of junction IDs where this controller operates

Controllers provide coordinated management of multiple traffic signals, typically at intersections where signals must be synchronized.

Usage

Use this class to query which signals belong to a controller and which junctions it governs. This is useful for implementing coordinated traffic light phases.

Code Reference

Source Location

• Repository: CARLA
• File: LibCarla/source/carla/road/Controller.h

Signature

class Controller : private MovableNonCopyable {
public:
  Controller(ContId id, std::string name, uint32_t sequence);

  const ContId &GetControllerId() const;
  const std::string &GetName() const;
  const uint32_t &GetSequence() const;
  const std::set<SignId> &GetSignals() const;
  const std::set<JuncId> &GetJunctions() const;
};

Import

#include "carla/road/Controller.h"

I/O Contract

Input	Type	Description
ContId | Unique controller identifier
std::string | Controller name
uint32_t | Sequence number for ordering

Output	Type	Description
std::set<SignId> | Set of signal IDs managed by the controller
std::set<JuncId> | Set of junction IDs where controller operates

Usage Examples

const auto &controllers = map_data.GetControllers();
for (const auto &[id, controller] : controllers) {
  auto signals = controller->GetSignals();
  auto junctions = controller->GetJunctions();
}

Related Pages

• Environment:CARLA_simulator_Carla_Simulation_Runtime