jmtc7/CarND-Pm07--Highway-Path-Planner

Future improvements

jmtc7 opened this issue · 0 comments

jmtc7 commented

A few suggestions for further improvement of the Path Planning project:

  • Make the car prone to drive in the right lane instead of in the middle one.
  • Make the car adjust its speed according to traffic rules.
    • No faster than the ones on the left lane, no slower than the ones on the right one.
    • Change lane to the left/right if it is necessary to be consistent with the velocities in the traffic rules.
  • Speed up if there is a car behind the ego car that is approaching too fast (even it if would not happen in the simulator).
  • Try to fine-tune the security distances.
    • 30 m to consider a car too close to the ego car.
    • 60 m gap to change lane.

[ADDITIONS AFTER CODE REVIEW]

  • When te car can not change lane but is behind a slower car, make it copy its velocity instead of having to decelerate and accelerate.
  • Try other approaches for behavior planning, such as:
    • Cost functions
    • Finite State Machines (FSMs)
  • Try other approaches for trajectory generations, such as jerk-minimizing quintic polynomials.