Self-Driving Car Specialization

This repo contains my Coursera Self-Driving Car Specialization' class materials, project results and the key topics of each course.

1. Introduction to Self-Driving Cars

• Taxonomy of self-driving cars
• Driving decisions and actions
• Hardware and software stacks
• Safety assessment and industry approach
• Kinematic and dynamic modeling
• Longitudinal and lateral controller design
• Control stack on CARLA racetrack

2. State Estimation and Localization for Self-Driving Cars

• Squared error optimization and Least squares
• The linear, extended, error-state and unscented kalman filters
• Pose estimation with GNSS/INS
• Lidar sensing and point clouds
• Vehicle state estimator

3. Visual Perception for Self-Driving Cars

• Basics of 3D computer vision
• Visual Features
• Feedforward and CNN
• 2D object detection
• Semantic segmentation

4. Motion Planning for Self-Driving Cars

• Decompose the motion planning problem into a hierarchical structure
• Static occupancy grids
• Mission planning on road networks
• Reactive planning and collision checking
• Behavioral planning
• Smooth local planning
• Motion planning in CARLA simulation