In this project, a PID controller was implemented in C++ to maneuver the vehicle around the track in the Udacity simulator. The simulator provides the cross track error (CTE) and the velocity (mph) in order to compute the appropriate steering angle. The twiddle algorithm was used to tune the gains (P, I, and D) of the controller. You can check out the other videos I produced on my Youtube channel. You can also checkout my code on my GitHub page .