In this project, I designed a path planner that is able to create smooth, safe paths for the car to follow along a 3 lane highway with traffic. This path planner it is able to keep car inside its lane, avoid hitting other cars, and pass slower moving traffic. The car drives around a virtual highway (6946m long) with other traffic that is driving +-10 MPH of the 50 MPH speed limit. The car's localization, sensor fusion data and a sparse map list of waypoints around the highway are provided. The car tries to go as close as possible to the 50 MPH speed limit, which means passing slower traffic when possible, note that other cars will try to change lanes too. The car will avoid hitting other cars at all cost as well as driving inside of the marked road lanes at all times, unless going from one lane to another.