Path Planning Project

Self-Driving Car Engineer Nanodegree Program

In this project I implemented the C++ algorithms for a car to drive safely on a highway simulation with other cars driving a different speeds. My car manages to adapt to the highway traffic, change lanes when safe in order to drive faster, while keeping below the 50 MPH speed limit and within its lane.

The main elements implemented are:

• Prediction of the future position of my car and other cars on the road
• Behavior Planning of my car using costs functions to evaluate which lane to use
• Trajectory Generation to accelerate, keep in lane speed, and change lanes, keeping low levels of jerk and acceleration

The deliverables for the project are:

• C++ code contained in helpers.cpp and main.cpp
• A writeup report (markdown)

Please, check the write-up for a detailed analysis.

Installation and Build

This project involves the Term3 Simulator which can be downloaded here.

Once you clone this repo, it includes two files that can be used to set up and install uWebSocketIO for either Linux or Mac systems. For windows you can use either Docker, VMware, or even Windows 10 Bash on Ubuntu to install uWebSocketIO.

Once the install for uWebSocketIO is complete, the main program can be built and run by:

• Clone this repo.
• Make a build directory: mkdir build && cd build
• Compile: cmake .. && make
• Run it: ./path_planning.

Refer to the Udacity project repository for more detail installation instructions.

Dependencies

• cmake >= 3.5
  • All OSes: click here for installation instructions
• make >= 4.1
  • Linux: make is installed by default on most Linux distros
  • Mac: install Xcode command line tools to get make
  • Windows: Click here for installation instructions
• gcc/g++ >= 5.4
  • Linux: gcc / g++ is installed by default on most Linux distros
  • Mac: same deal as make - [install Xcode command line tools]((https://developer.apple.com/xcode/features/)
  • Windows: recommend using MinGW
• uWebSockets
  • Run either install-mac.sh or install-ubuntu.sh.
  • If you install from source, checkout to commit e94b6e1, i.e.

    git clone https://github.com/uWebSockets/uWebSockets 
    cd uWebSockets
    git checkout e94b6e1