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Current trend of the automotive industry combined with research by the major tech companies has proved that self-driving vehicles are the future. With successful demonstration of neural network based autonomous driving, NVIDIA has introduced a new paradigm for autonomous driving software. The biggest challenge for self-driving cars is autonomous lateral control. An end-to-end model seems very promising in providing a complete software stack for autonomous driving. Although this system is not ready to be provided as a feature in the market today, it is one of the many steps in the right direction to make self-driving cars a reality. The work described in this paper focusses on how an end-to-end model is implemented. The subtleties of training a successful end-to-end model are highlighted with the aim of providing an insight on deep learning and software required for neural network training. Detailed analyses …