Autonomous Vehicle Control

This project marked my introduction to the field of autonomous vehicles, inspired by the Coursera course Introduction to Self-Driving Cars. It provided a solid foundation in the core concepts and control strategies used in autonomous vehicle systems.

I implemented and simulated two essential controllers for a self-driving car using the CARLA simulator:

1. PID Longitudinal Controller: This controller was designed to regulate the car's speed by adjusting throttle and braking inputs. Using a Proportional-Integral-Derivative (PID) algorithm, I fine-tuned the parameters to ensure smooth and accurate speed control, effectively handling scenarios like acceleration, deceleration, and maintaining steady speeds.

2. Pure Pursuit Lateral Controller: The lateral controller was responsible for steering the vehicle along a predefined path. By calculating the lookahead point on the trajectory and adjusting the steering angle, the car successfully navigated curves and straight segments with precision.

Through this project, I gained hands-on experience in simulating real-world control algorithms, tuning parameters for optimal performance, and understanding the dynamics of vehicle motion. It was a pivotal step in my journey toward mastering autonomous vehicle technologies.