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Writeup

Path Planning Project

The goals / steps of this project are the following:

  • The car is able to drive at least 4.32 miles without incident.
  • The car drives according to the speed limit.
  • Max Acceleration and Jerk are not Exceeded.
  • Car does not have collisions.
  • The car stays in its lane, except for the time between changing lanes.
  • The car is able to change lanes

alt text

Main program module:

1. Prediction

about line 128 to line 179

There is a logic of changing the lanes and a strategy of speed control. Meanwhile, the predicted safe distance here is 30 meters.

2. Trajectory

about line 186 to line 289

Generate corresponding trajectories according to the predicted information. Meanwhile, each lane is 4 m wide and the car should only ever be in one of the 3 lanes on the right-hand side.