Self-Driving Car Engineer Nanodegree Program
Describe the effect each of the P, I, D components had in your implementation.
The proportional portion of the controller uses the cross-track error and multiplies it by a constant to try to steer the car toward the center line. However, with just this, the car overshoots the central line and results in back-and-forth, unstable driving.
The integral portion tries to eliminate a possible bias on the control system that could prevent the error to be eliminated (usually steering drift).
The differential portion helps to counteract the proportional tendency to overshoot the center line by smoothing the approach to it.
Describe how the final hyperparameters were chosen.
I used the Twiddle algorithm (taken out of source code) to tune the hyperparameters to the PID controller.
The vehicle must successfully drive a lap around the track.
A short video is included in the videos/ folder of this repository.