EV3 self driving buggy 4х4

Fully autonomous car - 4x4 transmission - full independent suspension - propulsion by two XL motors - steering by small mindstors motor - positive caster angle - 2 IR sensors - 2 ultrasonic sensors Used 42054 (Claas Xerion 5000 Trac) and 45544 lego set's Instruction: https://drive.google.com/open?id=1DkJY3UkWEJxig5dr3_zLefxgxjINx-6Y