Model loses performance after the first few laps

[aleonnet]

Hi @mbechtel2 and @heechul,
First of all great job! This is one of the best implementations of self driving car on embedded devices I've ever tried.

However, I've trained the car in a lot of conditions (light, speed) and the model performs well on 1st to 3rd lap at most and then starts to lose track. I'm even using Pi 3B+ which lower the latency by 10ms average (bellow the 50ms target). I also tweaked the code to add a new actuator and ps4 joystick to achieve a continuous and soft steering performance.

I can't figure it out what I'm doing wrong. Please help me.

Thank you. Regards,
Alessandro