Open textbook teaches self-driving by building one Python sim chapter by chapter
4310sy · x · 2026-11-14
Author shisatoyano is writing a free, open textbook on self-driving car algorithms where all chapters extend the same Python simulation: starting from a bare world and a command-driven vehicle, each chapter adds one stage (path following, sensing, localization, mapping, planning, perception, optimal control), ending with a runnable 'system so far,' with alternative algorithms swapped in and compared.
- Part I: getting started, the simulator, the vehicle model
- Part II: following a course, sensing, localization, mapping, route planning, perception, optimal control
- Part III: tracking moving objects, obstacle avoidance, lane changes, dynamic vehicle model
The book is a work in progress with a public roadmap; feedback is welcome in the Book category of Discussions, and each chapter is an open issue anyone can pick up.
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