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This repository contains a solution to the Udacity Behavioral Cloning Project.

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Behavioral Cloning

Udacity - Self-Driving Car NanoDegree

Overview

This repository contains a solution to the Behavioral Cloning Project.

In this project, we use deep neural networks and convolutional neural networks to clone driving behavior. We train, validate and test a model using Keras. The model outputs a steering angle to an autonomous vehicle.

The goals 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

Files

The project includes the following files:

  • Report summarizing the results
  • Jupyter notebook Describing the steps to load, preprocess and train the model
  • Model python model.py executable containing the script to create and train the model
  • Driver Server drive.py for driving the car in autonomous mode
  • Trained model model.h5 containing a trained convolution neural network
  • Video for an autonomous drive example

Environment

License

MIT License Copyright (c) 2016-2018 Udacity, Inc.

References

https://github.com/udacity/CarND-Behavioral-Cloning-P3