Behavioral Cloning Project for Self-Driving Car ND
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Behavioral Cloning Project for Self-Driving Car ND

Udacity - Self-Driving Car NanoDegree

The goal of this project is to use deep neural networks and convolutional neural networks to clone driving behavior using Keras. The model will output a steering angle to an autonomous vehicle. Udacity provides a simulator where we can steer a car around a track for data collection. I'll use image data and steering angles to train a neural network and then use this model to drive the car autonomously around the track.

The Project

The goals / steps of this project are the following:

  • Use the simulator to collect data of good driving behavior
  • Design, train and validate a model that predicts a steering angle from image data
  • Use the model to drive the vehicle autonomously around the first track in the simulator. The vehicle should remain on the road for an entire loop around the track.
  • Summarize the results with a written report


This lab requires:

The lab enviroment can be created with CarND Term1 Starter Kit. Click here for the details.

The following resources can be found in this github repository:


The simulator can be downloaded here:

Details About Files In This Directory

Usage of requires you have saved the trained model as an h5 file, i.e. model.h5. See the Keras documentation for how to create this file using the following command:

Once the model has been saved, it can be used with using this command:

python model.h5

The above command will load the trained model and use the model to make predictions on individual images in real-time and send the predicted angle back to the server via a websocket connection.

Note: There is known local system's setting issue with replacing "," with "." when using When this happens it can make predicted steering values clipped to max/min values. If this occurs, a known fix for this is to add "export LANG=en_US.utf8" to the bashrc file.

Saving a video of the autonomous agent

python model.h5 run1

The fourth argument, run1, is the directory in which to save the images seen by the agent. If the directory already exists, it'll be overwritten.

ls run1

[2017-01-09 16:10:23 EST]  12KiB 2017_01_09_21_10_23_424.jpg
[2017-01-09 16:10:23 EST]  12KiB 2017_01_09_21_10_23_451.jpg
[2017-01-09 16:10:23 EST]  12KiB 2017_01_09_21_10_23_477.jpg
[2017-01-09 16:10:23 EST]  12KiB 2017_01_09_21_10_23_528.jpg
[2017-01-09 16:10:23 EST]  12KiB 2017_01_09_21_10_23_573.jpg
[2017-01-09 16:10:23 EST]  12KiB 2017_01_09_21_10_23_618.jpg
[2017-01-09 16:10:23 EST]  12KiB 2017_01_09_21_10_23_697.jpg
[2017-01-09 16:10:23 EST]  12KiB 2017_01_09_21_10_23_723.jpg
[2017-01-09 16:10:23 EST]  12KiB 2017_01_09_21_10_23_749.jpg
[2017-01-09 16:10:23 EST]  12KiB 2017_01_09_21_10_23_817.jpg

The image file name is a timestamp of when the image was seen. This information is used by to create a chronological video of the agent driving.

python run1

Creates a video based on images found in the run1 directory. The name of the video will be the name of the directory followed by '.mp4', so, in this case the video will be run1.mp4.

Optionally, one can specify the FPS (frames per second) of the video:

python run1 --fps 48

Will run the video at 48 FPS. The default FPS is 60.

Questions or Feedback

Contact me anytime for anything about my projects or machine learning in general. I'd be happy to help you 😉