Learning to drive (from a self-driving car!)

Note: Frenet Coordinate System

Source
Source

The motion planning problem

Predicting the actions of other cars

Example pipeline of a model-based vs data-driven approach. Source
Source
  1. Compute the conditional probabilities for the given [x, y] pairings. This can be modelled as

Behaviour Planning

Source
  1. Feasible
  2. Safe
  3. Legal
  4. Efficient

Polynomial Trajectory Generation

Velocity equation (first-order derivative)
Acceleration equation (second-order derivative)

Results

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Building Self-Driving Cars as a 15yo. srianumakonda.com

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Sri Anumakonda

Sri Anumakonda

Building Self-Driving Cars as a 15yo. srianumakonda.com

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