Self-Driving Car 🚘 🛣️

This repository contains many autonomous vehicle-related projects I've worked on. This might serve as the foundation for a real autonomous vehicle.

Projects

Basic Lane Line Detection

Employ region of interest selection, grayscaling, Gaussian smoothing, Canny Edge Detection and Hough Transform line detection to identify lane lines on the road in an image.

Simple linearly extrapolated lane detections

Source

Advanced Lane Line Detection

Find lane markings in images and video using color transformations, gradients, and perspective transformation. Determine the curvature of the lane and the vehicle position with respect to center.

Lane detections with curvature and offset

Source

Behavioral Cloning

Use Udacity's driving simulator to create a dataset to clone driving behavior by training and validating a model using Keras. The model outputs a steering angle to an autonomous vehicle.

Autonomus driving in the simulator

Source

Autopilot

Use End-to-End architecture to train a CNN model that predicts a steering angle, trained on real world dataset.

Results

Autopilot with steering angle prediction

Source

References

• Udacity Self Driving Car Course
• Behavioral Cloning Project
• Udacity's Self-Driving Car Simulator

Feel free to improve this project with pull request. If you face any problem, kindly raise an issue.