/CarND-PID-Control-Project

Primary LanguageC++

CarND-Controls-PID

Self-Driving Car Engineer Nanodegree Program

PID parameters

In this implementation, we use the following parameters:

Kp = 0.1
Ki = 0.001
Kd = 1.5

These parameters are chosen from a manual tuning.

The result is shown in this video.

Effect of P, I, D

In order to test the effect of the P, I and D components, we introduced a 0.2 bias on the driving angle.

  1. With P component only, the car oscillates heavily in the road, as shown in this video.
  2. With PD components, the car can drive on the road, but has a constant offset from the middle of the road, as shown in this video.
  3. With both the PID components, the car now drives much smoothly in the middle of the road, as shown in this video.