You can divide the problem into - perception: sensors -> vector space (a list of objects with their locations) - planning: vector space -> path Both are hard

You can divide the problem into - perception: sensors -> vector space (a list of objects with their locations) - planning: vector space -> path Both are hard, but for the planning problem you can do most of the training and testing in simulation. It's fairly easy to simulate the response of the car. The perception problem is more expensive to solve, because you have to collect so much data under every weather and lighting condition.