Summary

Congratulations! You now have a lateral and longitudinal controller for a self-driving car! You should be proud of what you have learned and applied in this chapter.

You have learned about the two most ubiquitous controllers, namely, the PID and MPC. You learned that PIDs are well suited for SISO systems and are very efficient, but require several controllers to control multiple outputs. Meanwhile, you also learned that MPCs are suited for MIMO systems with enough resources to continually optimize in real time at each time step.

With this, you have trudged through the minutia of the mathematics and models and emerged with your very own PID controller implemented in CARLA and Python.

In the next chapter, you are going to learn how to build maps and localize your self-driving car so you always know where you are in the world!