Implementation:CARLA simulator Carla Control API Spec

Knowledge Sources	CARLA
Domains	Simulation, Autonomous Driving, API Specification
Last Updated	2026-02-15 05:00 GMT

Overview

YML specification file that defines vehicle and walker control classes in the CARLA Python API, including VehicleControl, VehicleAckermannControl, and related physics control types.

Description

This YML file specifies the control-related classes for managing vehicle and walker movement in the CARLA simulator. VehicleControl provides typical driving controls with properties for throttle (0.0-1.0), steer (-1.0 to 1.0), brake (0.0-1.0), hand_brake, reverse, manual_gear_shift, and gear. VehicleAckermannControl offers an alternative control model based on Ackermann steering geometry, with steer (radians), steer_speed (rad/s), speed (m/s), acceleration (m/s2), and jerk (m/s3). The file also contains definitions for VehiclePhysicsControl, WalkerControl, and WalkerBoneControlIn/Out classes for fine-grained physics and animation control.

Usage

Use these control classes to programmatically drive vehicles or move walkers in the simulation. VehicleControl is used for standard throttle/brake/steer input, while VehicleAckermannControl provides physics-based Ackermann steering.

Code Reference

Source Location

Repository: CARLA
File: PythonAPI/docs/control.yml

Signature

- module_name: carla
  classes:
  - class_name: VehicleControl
    instance_variables:
    - var_name: throttle          # type: float [0.0, 1.0]
    - var_name: steer             # type: float [-1.0, 1.0]
    - var_name: brake             # type: float [0.0, 1.0]
    - var_name: hand_brake        # type: bool
    - var_name: reverse           # type: bool
    - var_name: manual_gear_shift # type: bool
    - var_name: gear              # type: int
    methods:
    - def_name: __init__
    - def_name: __eq__
    - def_name: __ne__
    - def_name: __str__

  - class_name: VehicleAckermannControl
    instance_variables:
    - var_name: steer             # type: float (rad)
    - var_name: steer_speed       # type: float (rad/s)
    - var_name: speed             # type: float (m/s)
    - var_name: acceleration      # type: float (m/s2)
    - var_name: jerk              # type: float (m/s3)

Import

import carla
control = carla.VehicleControl(throttle=1.0, steer=0.0)
ackermann = carla.VehicleAckermannControl(steer=0.1, speed=10.0)

I/O Contract

Property	Type	Range	Description
throttle	float	[0.0, 1.0]	Vehicle throttle amount
steer	float	[-1.0, 1.0]	Steering amount (negative=left, positive=right)
brake	float	[0.0, 1.0]	Brake amount
hand_brake	bool	True/False	Hand brake engaged
reverse	bool	True/False	Move backwards
manual_gear_shift	bool	True/False	Manual transmission mode
gear	int	0+	Current gear

Usage Examples

import carla

client = carla.Client('localhost', 2000)
world = client.get_world()

# Spawn a vehicle
bp = world.get_blueprint_library().find('vehicle.tesla.model3')
sp = world.get_map().get_spawn_points()[0]
vehicle = world.spawn_actor(bp, sp)

# Apply standard vehicle control
control = carla.VehicleControl(throttle=0.5, steer=0.0, brake=0.0)
vehicle.apply_control(control)

# Apply Ackermann control
ackermann = carla.VehicleAckermannControl(steer=0.1, speed=15.0, acceleration=2.0)
vehicle.apply_ackermann_control(ackermann)

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