Self-driving car

A simulator where you can interact with a self-driving car. The inspiration originates from the course Artificial Intelligence for Robotics - Programming a Robotic Car.

The car is using an algorithm called Hybrid A star to find the shortest path to the goal, which is the same algorithm used by the self-driving car Junior. You can read more about it here: Explaining the Hybrid A Star pathfinding algorithm for selfdriving cars.

The car is using a PID controller to follow that path and Reeds-Shepp Paths which Hybrid A* is using to increase the performance of the algorithm.

What are the lines meaning?

  • The gray and white lines are the shortest path if there were no obstacles. This path is the Reeds-Shepp path
  • The orange and blue lines are the Hybrid A star search tree (orange is if the car is driving forward and blue is reverse)
  • The red and light-blue lines are the final paths (one of them is smoothed)

Media

Instructions

Move camera:
WASD
Zoom in/out:
IO or Mouse wheel
Place the goal car:
Left Mouse
Rotate the goal car:
QE

Play it

  • Unity WebGL Will (maybe) work in your browser, but is slow so you should download the offline version
  • Unity PC (10 MB)

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