Highway Driving

Designed a path planner that is able to create smooth, safe paths for the car to follow along a 3 lane highway with traffic. The car is able to keep inside its lane, avoid hitting other cars, and pass slower moving traffic all by using localization, sensor fusion, and map data.

The modules involved in this path planner is shown in the following picture, which also illustrates the interactions between them.

Here is a video demonstration to show the car is able to navigate through the traffic smoothly.

For details, please follow this link.