Update README.md (#2156)

* Update README.md

* Update README.md

* Update README.md

* Update README.md

* Update README.md

README.md

@@ -274,8 +274,22 @@ Safety and Testing
 
 Testing on PC
 ------
+For simplified development/experimentation/testing, you have the option to run openpilot and Carla driving simulator in Docker, which allows you to develop openpilot software without buying/having a supported car. 
+Steps:
+1) Start the CARLA server on first terminal
+```
+bash -c "$(curl https://raw.githubusercontent.com/commaai/openpilot/master/tools/sim/start_carla.sh)"
+```
+2) Start openpilot on second terminal
+```
+bash -c "$(curl https://raw.githubusercontent.com/commaai/openpilot/master/tools/sim/start_openpilot_docker.sh)"
+```
+3) Press 1 to engage openpilot
+
+Full README at https://github.com/commaai/openpilot/blob/master/tools/sim/README.md
+
+You should also take a look at the tools directory in master: lots of tools you can use to replay driving data, test and develop openpilot from your pc.
 
-Check out the tools directory in master: lots of tools you can use to replay driving data, test and develop openpilot from your pc.
 
 Community and Contributing
 ------