Convergence on target speeds and steering is actually very quick (a matter of hours on a modern GPU / AlexNet / 227x227 RGB) once you have the data. Generating

Convergence on target speeds and steering is actually very quick (a matter of hours on a modern GPU / AlexNet / 227x227 RGB) once you have the data. Generating training data with the correct speed limit and providing speed limit based rewards is the missing step. The training car already obeys traffic laws.