Self-Driving Car Engineer Nanodegree Program
The PID coefficients were selected manually, by trial and error.
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I used only enough proportional gain in order to make the car responsive
without oversteering in the presence of a small error. -
Then I used the derivative term to compensate for the curvature in the turns.
I realized this resulted in much smoother driving than using the integral term. -
Lastly, I used the integral term to make the error compensation occur faster,
I thought of it as sort of a "helper" of the P term.