Self-Driving Car Engineer Nanodegree Program
In this project I implemented a PID Controller to maneuver the vehicle around the track. The simulator provides the cross track error (CTE) and the velocity (mph) as a result PID Controller computes the appropriate steering angle.
A proportional–integral–derivative controller is a control loop feedback mechanism widely used in industrial control systems and a variety of other applications requiring continuously modulated control. A PID controller continuously calculates an error value e(t) as the difference between a desired setpoint (SP) and a measured process variable (PV) and applies a correction based on proportional, integral, and derivative terms (denoted P, I, and D respectively) which give the controller its name.
Firstly I set up environment based on David's video. After that I tunned paramenters manually and by using Twiddle algorithm.
My Final paramenters = [P:0.12, P:0.002, P:2.9] allow the car to successfully drive around the track and steer pretty smoothly.
I'm planning to improve this project by adding second PID Controller to adjust a throttle.
