Behaviorial Cloning Project

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

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

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