Autonomous Vehicle Control Beginners Guide
Learn autonomous driving by building it: Python simulations and an open textbook of self-driving car algorithms (path planning, path tracking, localization, mapping and control), where the system grows one stage at a time.
The book starts from a bare world and a vehicle that moves by given commands, and adds one stage per chapter: following a course, sensing, localization, mapping, planning, perception and optimal control, then driving among other vehicles and obstacles. Each chapter ends with a runnable “system so far”, and the alternative algorithms of a stage are swapped into the same system and compared.
The book is a work in progress: most chapters are planned, and list the simulations that already exist for them. See the documentation roadmap for the plan. Comments and ideas are welcome in the Book category of Discussions.
Part I: The Base
Part II: Building the System
Part III: Driving Among Others