There is another open source self-driving car project by Udacity (https://github.com/udacity/self-driving-car) that was created for teaching their Nanodegree self-driving car program. This project aims to create a completely autonomous self-driving car using deep learning and using ROS as middleware for communication.
The project is split into a series of challenges, and anyone can contribute to the project and win a prize. The project is trying to train a Convolution Neural Network (CNN) from a vehicle camera dataset to predict steering angles. This approach is a replication of end-to-end deep learning from NVIDIA (https://devblogs.nvidia.com/parallelforall/deep-learning-self-driving-cars/), used in their self-driving car project called DAVE-2.
The following is the block diagram of DAVE-2. DAVE-2 stands for DARPA Autonomous...