Self-Driving Car Engineer Nanodegree Program
- The proportional portion of the controller tries to steer the car toward the center line (against the cross-track error). If used along, the car overshoots the central line very easily and go out of the road very quickly.
- The integral portion tries to eliminate a possible bias on the controlled system that could prevent the error to be eliminated. If used along, it makes the car to go in circles. In the case of the simulator, no bias is present.
- The differential portion helps to counteract the proportional trend to overshoot the center line by smoothing the approach to it.
- The parameters were chosen manually by try and error. First, make sure the car can drive straight with zero as parameters. Then add the proportional and the car start going on following the road but it starts overshooting go out of it. Then add the differential to try to overcome the overshooting. The integral part only moved the car out of the road; so, it stayed as zero. After the car drove the track without going out of it, the parameters increased to minimize the average cross-track error on a single track lap. The final parameters are [P: 0.25, I: 0.0, D: 2.5]. Also the steering value is limited in between -1 to +1 as there is limits on actual car for steering angle, also throttle is adjusted as per steering value i.e for greater than 0.1 steering value throttle is set at 0.1, whereas for leass than 0.1 steering value means for near to streight driving, throttle is set at 0.5 value.
- cmake >= 3.5
- All OSes: click here for installation instructions
- make >= 4.1(mac, linux), 3.81(Windows)
- 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
- Run either
./install-mac.shor./install-ubuntu.sh. - If you install from source, checkout to commit
e94b6e1, i.e.Some function signatures have changed in v0.14.x. See this PR for more details.git clone https://github.com/uWebSockets/uWebSockets cd uWebSockets git checkout e94b6e1
- Run either
- Simulator. You can download these from the project intro page in the classroom.
There's an experimental patch for windows in this PR
- Clone this repo.
- Make a build directory:
mkdir build && cd build - Compile:
cmake .. && make - Run it:
./pid.
Tips for setting up your environment can be found here
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./
A well written README file can enhance your project and portfolio. Develop your abilities to create professional README files by completing this free course.