Self-Driving Car Engineer Nanodegree Program
- 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.
Fellow students have put together a guide to Windows set-up for the project here if the environment you have set up for the Sensor Fusion projects does not work for this project. There's also 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 expectati 6A1C on 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.
Each component of the PID controller improves the system response in closed-loop in different ways. Here's a brief summary of the purpose of each component.
- Proportional gain increases the control output proportionally to the error. Increasing the proportional gain will decrease the amount of time it takes the controller to steer the car to the center. However, if the proportional gain is too high, the system overshoots and it can become unstable.
- Integral gain eliminates the error of the system in steady state. If the integral gain is too high, the system overshoots and it can become unstable.
- Derivative gain increases the control output proportionally to the derivative of the error. This component acts as a predictor. Increasing the derivative gain will decrease the overshoot and settling time of the closed-loop system. The derivative term benefits the stability of the system.
The parameters have been manually adjusted by looking at the system response in the simulator.
Here's an overview of the tunning process:
Source: Lesson 1: Proportional-Integral-Derivative (PID) Control
Here is a link to my video result