Behaviorial Cloning Project

• Teach your car how to drive by cloning your driving behavior
• Keras + Tensorflow + OpenCV + Nvidia model + Unity + AWS GPU EC2

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Autonomous Driving | Full Video | Full Report

Overview

• The following image is a Nvidia model used by Nvidia to build behavior cloning neural networks
• This image provides the basic structure for behaviorial cloning neural network used in this project with some tweaks such as the last fully-connected layer
• For more installation details, please refer to installation.md file for more information

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Sample Input Images with Steering Angle

I used the following technique to pre-process input data for faster and more accurate learning

• Crop out car hood, sky, and trees (irrelevant to driving)
• Normalize images
• Apply steering correction of 0.2 on left and right cameras
• Flip images with curvature > 0.33 to augment data set

Pre processed Input Images with Steering Angle