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+# Model Documentation
+
+This file contains the documentation for the **Udacity Path-Planning Project**.
+
+## Task Description
+
+The goal in this project is to **build a path planner that is able to create smooth, safe trajectories** for the car to follow. The highway track has other vehicles, all going different speeds, but approximately obeying the 50 MPH speed limit.
+
+The car transmits its location, along with its sensor fusion data, which estimates the location of all the vehicles on the same side of the road.
+
+## What is the Path
+
+A **trajectory** is constituted by as set of (x, y) points. Every 20 ms the car moves to the next point on the list.
+In this framework, the car moves from point to point perfectly.
+
+Since the car always moves to the next waypoint after 20ms, the **velocity** of the vehicle is given by how much future waypoints are spaced.
+In other words, the larger the space between waypoints, the faster the car will be.
+
+## Rubric
+
+Here's a bullet list of rubric points along with an explanation of how constraints are satisfied.
+
+- **The car drives according to the speed limit**
+
+    A [reference velocity variable](https://github.com/ndrplz/self-driving-car/blob/7b0d9e057931667a04422649fee6d017b3ef7475/project_11_path_planning/src/main.cpp#L74) is used to keep track of current speed of the vehicle. Also, [another constant variable](https://github.com/ndrplz/self-driving-car/blob/7b0d9e057931667a04422649fee6d017b3ef7475/project_11_path_planning/src/utils.h#L13) is used to make sure the car never exeed the maximum speed of 50 mph.
+