self driving car path planning project. European way

This is a video of my path planning algorithm for the Udacity self-driving car nanodegree with European driving style.

The car path planner version is developed with an European driving style in mind.

• The car starts in one of the lanes and naturally will tend to drive on the very right.

• If our car is going faster that a car driving on the left, the car will adapt the speed to make a carefully pass keeping the same lane. This move is not appropriate but some times some drivers keep driving on the center lane or the very left lane so there is no other chance to pass them.

• If the car is detected ahead the car will try to overtake it from the left if the left lane is free. If it is not possible the car will start following the car ahead maintaining a safety distance. When the left lane is free the left overtake is perform. If the car following status continues for some time because the left lane is not available for some time, the car will try a risky right overtake.

• If there are no car around the car is at free status driving at maximum speed.

All the car status.

• free: nobody is ahead so it tries to drive at maximum speed.

• left overtake: there is a car ahead and the left lane is available to overtake. In Europe this is the way to overtake. 

• right surpass:  there is a car ahead and the right lane is available to overtake. As this is unappropriated this will be done going slightly faster that the car being overtaken. 

• right overtake: there is a car that cannot be overtaken for the left, and the attempt is taking too long. So, we make a risky right overtake. It is difficult the get a screen shot of this moment but it is not difficult to see it in the simulator.

• car ahead: there is a car in the same lane close enough to be taken into account.

 • following car: there is a car ahead and you cannot overtake, so you adjust your speed to the car ahead maintaining a safety distance. 

• changing right: if the car is running free and there is a chance to move to the right it moves to the lane on the right. Driving in an European way. 

There are some cost functions related with the time that the car is following a car, or in the same lane. This makes the car take decision which vary in time. This helps the car to do safe moves easier than dangerous moves. Also helps the car not to be changing lane too often.