I'm still doing the SDC nanodegree. I'm also going" the Way of Eric" in parallel. Therefor I learned a lot and understand the solution much deeper, because a different approach gives a different perspective. But not only that. I was able to increase the maximum speed of PID controllet from 50mph to 70mph. Have a look: https://github.com/vanAken/CarND-PID-Clojure The next is the MPC-Project, which look promising too.
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