Self-Driving Car Engineer Nanodegree Program
Two PID's were used in this project. One for steering angles control and other for car speed.
For the steering angle PID, the values used for proportional, integral and derivative coefficients were 0.12, 0.0002, 1.5, respectively.
For the speed PID 1, 0.0001, 0.2 was used.
Therefore, those values were chosen based on its effects on driving beaviour as follow:
- Use a small value for proportional, to get a more stable driving, but sufficient to handle curves without leaving course.
- Use a small value for integral, to keep the car stable and take into account small deviations along the course.
- Use a large value for derivative, to smooth approach on curves.
Coefficient parameters were initially choosen based on an empirical evaluation. A twiddle experiment was conducted to get the final coefficients used in this project.
To enable twiddle just call ./pid twiddle.
The output video with these PID's applied to car driving may be seen here.
- cmake >= 3.5
- All OSes: click here for installation instructions
- make >= 4.1
- Linux: make is installed by default on most Linux distros
- Mac: install Xcode command line tools to get make
- Windows: Click here for installation instructions
- gcc/g++ >= 5.4
- Linux: gcc / g++ is installed by default on most Linux distros
- Mac: same deal as make - [install Xcode command line tools]((https://developer.apple.com/xcode/features/)
- Windows: recommend using MinGW
- uWebSockets == 0.13, but the master branch will probably work just fine
- Follow the instructions in the uWebSockets README to get setup for your platform. You can download the zip of the appropriate version from the releases page. Here's a link to the v0.13 zip.
- If you run OSX and have homebrew installed you can just run the ./install-mac.sh script to install this
- Simulator. You can download these from the project intro page in the classroom.
- Clone this repo.
- Make a build directory:
mkdir build && cd build - Compile:
cmake .. && make - Run it:
./pid.
We've purposefully kept editor configuration files out of this repo in order to keep it as simple and environment agnostic as possible. However, we recommend using the following settings:
- indent using spaces
- set tab width to 2 spaces (keeps the matrices in source code aligned)
Please (do your best to) stick to Google's C++ style guide.
Note: regardless of the changes you make, your project must be buildable using cmake and make!
More information is only accessible by people who are already enrolled in Term 2 of CarND. If you are enrolled, see the project page for instructions and the project rubric.
- You don't have to follow this directory structure, but if you do, your work will span all of the .cpp files here. Keep an eye out for TODOs.
Help your fellow students!
We decided to create Makefiles with cmake to keep this project as platform agnostic as possible. Similarly, we omitted IDE profiles in order to we ensure that students don't feel pressured to use one IDE or another.
However! I'd love to help people get up and running with their IDEs of choice. If you've created a profile for an IDE that you think other students would appreciate, we'd love to have you add the requisite profile files and instructions to ide_profiles/. For example if you wanted to add a VS Code profile, you'd add:
- /ide_profiles/vscode/.vscode
- /ide_profiles/vscode/README.md
The README should explain what the profile does, how to take advantage of it, and how to install it.
Frankly, I've never been involved in a project with multiple IDE profiles before. I believe the best way to handle this would be to keep them out of the repo root to avoid clutter. My expectation is that most profiles will include instructions to copy files to a new location to get picked up by the IDE, but that's just a guess.
One last note here: regardless of the IDE used, every submitted project must still be compilable with cmake and make./