This repository contains the solution for Behavioral Cloning Project.
In this project, you will use what you've learned about deep neural networks and convolutional neural networks to clone driving behavior. You will train, validate and test a model using Keras. The model will output a steering angle to an autonomous vehicle.
The simulator are located here:
Windows 64
Windows 32
MacOS
Linux
To meet specifications, the project will require submitting five files:
- model.py (script used to create and train the model)
- drive.py (script to drive the car - feel free to modify this file)
- model.h5 (a trained Keras model)
- a report writeup file (either markdown or pdf)
- video.mp4 (a video recording of your vehicle driving autonomously around the track for at least one full lap)
This README file describes how to output the video in the "Details About Files In This Directory" section.
For more information about the solution implemented please read the writeup
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 data set used for this project is located here
The following resources can be found in this github repository:
- drive.py
- video.py
- writeup_template.md
The simulator can be downloaded from the classroom. In the classroom, we have also provided sample data that you can optionally use to help train your model.
For driving the car in autonomous mode you need to use drive.py using this command:
python drive.py model.h5The 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 drive.py. 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.