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Behavioral Cloning Project

The result can be viewed by clicking on the GIF below.

IL


Files specification:

  • model_small.ipynb (script used to create and train the model)
  • drive_small.py (script to drive the car)
  • model_small.h5 (a trained Keras model)
  • Behavioral Cloning.pdf (prject report)

Overview

The goal of the behavioral cloning project is to train a CNN to drive autonomously in a simulator. The project is a simulation implementation of the "End to End Learning for Self-Driving Cars" paper by NVIDIA. The CNN implemented in the project is differnet to the one in the paper, more details are explained here.

The steps of the project:

  • Use the simulator 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.

About

The Third Project of Udacity "Self-Driving Car" Nanodegree: Behavioral Cloning (Train a CNN to drive)

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