weikhor/self-driving-car-nanodegree

Developing self driving car project

Self-Driving-Car-Nanodegree

The Self-Driving Car Engineer is an online certification intended to prepare students to become self-driving car engineers. The program was developed by Udacity in partnership with Mercedes-Benz, NVIDIA, Otto, DiDi, BMW, McLaren and NextEv.

Developing self driving car project

Term 2: Sensor Fusion, Localisation and Control (Started March 2017)

1. Sensor Fusion

Project 1

In this project, a kalman filter is utilized to estimate the state of a moving object of interest with noisy lidar and radar measurements.

Project 2

In this project, an Unscented Kalman Filter is utilized to estimate the state of a moving object of interest with noisy lidar and radar measurements.

2. Localisation

Project 3

The robot has been kidnapped and transported to a new location! Luckily it has a map of this location, a (noisy) GPS estimate of its initial location, and lots of (noisy) sensor and control data. In this project, a 2 dimensional particle filter is implemented in C++. The particle filter will be given a map and some initial localization information (analogous to what a GPS would provide). At each time step, the filter will also get observation and control data.

3. Control

Project 4

The proportional–integral–derivative controller is implemented to steer the car.

Project 5

The Model predictive control is implemented to steer the car.