Right now it swerves like a crazy wishy-washy undecided driver and ironically too conservative at keeping its lane at the same time. Read: Part 1 of 3 | Read: Part 2 of 3| Read: Part 3 of 3 Deciding Which Behavior Given our sensor information, how do we decide whether to turn left, turn right, or stay in lane? This got me thinking, there are many things we can…