sensorCar

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Software for a self-driving car, based on neural networks. An Unity simulation is provided to run the car.

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# SensorCar

Software for a self-driving car, based on artificial neural networks (ANNs). An Unity simulation is provided to run the car.

![Gif of the SensorCar in action](https://raw.githubusercontent.com/jcjgraf/sensorCar/master/images/sc.gif)

Multiple sensors provide distance information to the ANN. In the evaluation process, these data is used to get the steering angle.

A module is provided for generating an infinitely long, randomly generated road. The SensorCar is capable of driving through this road map without any collisions.

:exclamation: This project started as a proof of principle and contains two different networks. One is programmed without the use of any high-level libraries whereas the other is build with Tensorflow.

## Getting Started

These instructions will get you a copy of the project up and running on your local machine.

### Prerequisites

This project requires Unity3D and Python +3.6.

### Installing

* Download a copy of this project.

* Install the required Python packages with `pip`:

```
pip install -r requirements.txt
```

## Run the Car on the ANN
* Load TF Network and start socket server
```
python3 mainCli.py --drive ./examples/21-100-50-20-1-0_001-21SensorsTF/model
```

* Open the scene `infinityRoad21` from `./simulation/sensorCar/Assets/Scenes/` with Unity and start it by pressing on the play button.

## Generate a Training Dataset

* Load the scene `infinityRoad{3|21}` from `./simulation/sensorCar/Assets/Scenes/` with Unity.

* Start the scene and manoeuvre the car with the <kbd>←</kbd> , <kbd>↑</kbd> , <kbd>→</kbd> , <kbd>↓</kbd> keys.

* Press <kbd>r</kbd> to start the recording and then <kbd>f</kbd> to stop it again.

## Train The Neural Network
* Train a TF network
```
python3 mainCli.py --train ./examples/dataset21Sensors/ds21.txt \
--shape 21 100 50 20 1 --learningrate 0.001 --epochs 1000 --saveinterval 10
```

## License

This project is licensed under the MIT License - see the [LICENSE.md](LICENSE.md) file for details

sensorCar

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