Behavior Planning

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01. Where To
02. Lesson Outline
03. Understanding Output
04. The Behavior Problem
05. Finite State Machines
06. Formalizing Finite State Machines
07. FSM Intuition
08. States for Self Driving Cars
09. The States We'll Use
10. Inputs to Transition Functions
11. Behavior Planning Pseudocode
12. Create a Cost Function - Speed Penalty
13. Example Cost Function - Lane Change Penalty
14. Implement a Cost Function in C++
15. Implement a Cost Function in C++ (solution)
16. Implement a Second Cost Function in C++
17. Implement a Second Cost Function in C++ (solution)
18. Cost Function Design and Weight Tweaking
19. Cost Function Matching
20. Scheduling Compute Time
21. Implement Behavior Planner in C++
22. Implement Behavior Planner in C++ (solution)
23. Conclusion

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10. Inputs to Transition Functions

09 Q InputsToTransitionFunctions

What data will we need to pass to our transition functions as input?

Predictions

Map

Speed Limit

Localization Data

Current State

Previous State

09 S InputsToTransitionFunctions

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