This project satisfies the requirements for both the Advanced Lane Finding project and the Vehicle Detection project for Udacity's Self-Driving Car Engineer nanodegree. Primary goals include detecting the lane lines, determining the curvature of the lane as well as the car's position within the lane, and detecting other vehicles. I chose to use convolutional neural networks to detect lane lines and cars, rather than the gradient and SVM-based approaches recommended for these projects. I annotated training images with the correct answers by adding extra layers to indicate which parts of the picture were part of lane lines or cars, then trained convolutional neural networks to produce such image masks for other images from the video. The process of curating training data and training convolutional neural networks will be discussed further later in this document.