Autonomous Systems

Autonomous Driving Simulation with AI

Analytical Man / November 20, 2025

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Table of Contents

🚗 Building a Waymo-Style Autonomous Driving System
- Why This Matters: The Autonomous Driving Challenge
🏗️ The Waymo Architecture: A Layered Approach
- The Four Layers Explained
👁️ Vision System: Deep Learning for Lane Segmentation
- Why Lane Segmentation?
- The UNet Architecture: A Perfect Fit
🗺️ Layer 1: Mission Planning - Finding the Route
- Understanding the Road Network as a Graph
🧠 Layer 2: Behavioral Planning - The State Machine
- Why a Finite State Machine?
- The Five-State Behavioral Model
🎯 Layer 3: Motion Planning - Vision-Guided Trajectories
- The Vision Pipeline: From Pixels to Path
⚙️ Layer 4: Control - PID Controllers for Precise Execution
- PID Control Theory: Understanding the Three Terms
- Speed Control: Separate Throttle and Brake
👁️ Obstacle Detection: YOLOv8 Integration
- Why YOLO for Autonomous Driving?
🛑 Obstacle Avoidance: Vision-Based Collision Prevention
🔗 Complete System Integration: Bringing It All Together
- Main Control Loop Operation
📊 Results and Performance Analysis
🎓 Lessons Learned and Key Takeaways
🏁 Conclusion: The Journey and The Road Ahead

Table of Contents

🚗 Building a Waymo-Style Autonomous Driving System
- Why This Matters: The Autonomous Driving Challenge
🏗️ The Waymo Architecture: A Layered Approach
- The Four Layers Explained
👁️ Vision System: Deep Learning for Lane Segmentation
- Why Lane Segmentation?
- The UNet Architecture: A Perfect Fit
🗺️ Layer 1: Mission Planning - Finding the Route
- Understanding the Road Network as a Graph
🧠 Layer 2: Behavioral Planning - The State Machine
- Why a Finite State Machine?
- The Five-State Behavioral Model
🎯 Layer 3: Motion Planning - Vision-Guided Trajectories
- The Vision Pipeline: From Pixels to Path
⚙️ Layer 4: Control - PID Controllers for Precise Execution
- PID Control Theory: Understanding the Three Terms
- Speed Control: Separate Throttle and Brake
👁️ Obstacle Detection: YOLOv8 Integration
- Why YOLO for Autonomous Driving?
🛑 Obstacle Avoidance: Vision-Based Collision Prevention
🔗 Complete System Integration: Bringing It All Together
- Main Control Loop Operation
📊 Results and Performance Analysis
🎓 Lessons Learned and Key Takeaways
🏁 Conclusion: The Journey and The Road Ahead

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