cedricxie / carnd-pid-control-project

Reflection

Design Matrix

Trial	P	I	D
1	0.1	0.01	3.0
2	1.0	0.01	3.0
3	0.01	0.01	3.0
4	0.1	0.2	3.0
5	0.1	0.0001	3.0
6	0.1	0.01	5.0
7	0.1	0.01	1.0

Effect of P Component:

1. Helps the car to steer back into lane in proportion to the crosstrack error
2. Might cause overshoot and/or oscillation
3. Three different values of P coefficient are studied:

• P = 1.0: constantly overshooting and not able to stay in the lane.
• P = 0.01: too slow adjustment to the error
• P = 0.1: final choice

Effect of I Component

1. Helps the car to steer back to correct position even when there is a bias
2. Three different values of I coefficient are studied:

• I = 0.2: too much steering due to bias
• I = 0.0001: too little adjustment for bias
• I = 0.005: final choice

Effect of D Component:

1. Helps the car to reduce overshooting and/or oscillation
2. Three different values of D coefficient are studied:

• D = 5.0: too much counter-steering
• D = 1.0: too little counter-steering
• D = 3.0: final choice

Choices of Hyperparameters

The final hyperparameters for P, I and D as (0.1, 0.005, 3.0) were chosen manually.