CarND-Path-Planning

Reference https://github.com/udacity/CarND-Path-Planning-Project is the basement of this project.

1. fail to listen to port: lsof -i:4567

2. Reference:
    https://github.com/AndrewGls/CarND-Path-Planning-Project
	https://d17h27t6h515a5.cloudfront.net/topher/2017/July/595fd482_werling-optimal-trajectory-generation-for-dynamic-street-scenarios-in-a-frenet-frame/werling-optimal-trajectory-generation-for-dynamic-street-scenarios-in-a-frenet-frame.pdf

3. Overview
        LaneChanging: 在换道的情况下规划路径
        LaneKeeping:在车道保持的情况下规划路径
        OtherVehicle:其他对手车辆的规划起点和预测的轨迹点
        PathPlanner:路径规矩的功能类
        SensorFusion:车辆的位置预测
        Trajectory:样条曲线拟合生成轨迹
        TrajectoryPool:从一系列的轨迹中取最优
        VehicleState: 每个lane上的限速
        Waypoints: 地图上的点，坐标转换(x,y)和(s,d)

4.视频展示:
   GoogleDrive:
    https://drive.google.com/open?id=12x3j3oITWjvSjwvlzF0d1ya9SfHRZZTr
   云盘:
    https://www.jianguoyun.com/p/DdXnpEoQvsmaCBi7ovUC