This repository contains the required files for the Behavioral Cloning Project.
This lab requires:
The lab enviroment can be created with CarND Term1 Starter Kit. Click here for the details.
The following files can be found in this github repository:
- drive.py
- model.py
- model.h5
- video.mp4
- README.md
- writeup_template.md
The simulator can be downloaded from the udacity Classroom.
A sample recording of the autonomous behavior demonstrated in the car simulator.
The python code for the neural network architecture that trains and outputs the model.
The neural network is saved in an h5 format to be used for testing in the simulator.
Usage of drive.py requires you have saved the trained model as an h5 file.
Once the model has been saved, it can be used with 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.
For further details on the implementation of the model. refere to the writeup.md file.