Your challenge is to design a path planner that creates smooth, safe paths along a 3-lane highway with traffic. Successful path planners will be able to keep inside their lanes, avoid hitting other cars, and pass slower moving traffic - all by using localization, sensor fusion, and map data. Path planners will be ranked by the time it takes them to complete a lap around a test track.

Go here to download the simulator and original project track: https://github.com/udacity/CarND-Path-Planning-Project

The Bosch track is a highway that continuously goes down the same direction but with some slight curviness.

The competitive challenge element added to this project is a brand new highway to test on, along with a timer element that measures how quickly the target 2.75 miles can be completed without incident.

The guidelines for a valid submission are listed in the rubric below.

Your submission will be run on a private evaluation track that will be similar to the Bosch track with the exception that the car placement won't be random.

The code compiles correctly. Code must compile without errors with cmake and make.

The car is able to drive at least 2.75 miles without incident

The top right screen of the simulator shows the current/best miles driven without incident. Incidents include exceeding acceleration/jerk/speed, collision, and driving outside of the lanes. Each incident case is also listed below in more detail.

The car drives according to the speed limit

The car doesn't drive faster than the speed limit of 50 miles per hour.

Max acceleration and jerk are not exceeded

The car does not exceed a total acceleration of 10 m/s^2 and a jerk of 10 m/s^3.

Car does not have collisions

The car must not come into contact with any of the other cars or objects on the road.

The car stays in its lane except when changing lanes

During lane changes, the car doesn't spend more than 3 seconds outside the lane lines. During normal operation the car stays inside the lane lines with the flow of traffic.

The car completes its trip within 360 seconds

Any submissions that don't finish within 360 seconds will be considered invalid.

Submission file must meet naming standards

Your .zip file must include main.cpp and all the code required to successfully compile. In addition, you must use the following map name in your code: highway_map_bosch1.csv