Self-Driving Car Engineer Nanodegree Program

The behaviour is what I was expecting, the car was able, after some manual trial and error tuning, to drive through the track without going outside the lane. To find the actual values I also implemented the twiddle alghorithm, that I used at varoius stages to fine tune the values. Anyway the followed trajectory is a bit unstable especially on turns. The three parameters are:

• P is proportional to the value of the current error
• I integrates the past error values over times
• D is an estimate of the future trends of the error