Just watched, and yes this is a very good explanation. My intro to PID controllers was when writing AI vehicle steering for video games. I wasn’t taught about PID controllers in my CS degrees, so I started naively with what I would later learn is a P controller, and then got really surprised when lowering the gain turned into larger error. Like trying to smooth out the steering makes the problem worse, it was surprising to me. I told a very smart guy near me what I’d learned and he was like, “Oh yeah, you just need a PID controller”.
I used to design PID process controllers in industry. In watching this vid I realized one reason that designing a self-driving car is so difficult. Toward the end, in the process control diagram, he has [Vehicle] as the controlled process. This reminds me of the old math joke about "assume a spherical cow". The difficulty with a self-driving car is that it isn't just the vehicle that has to be controlled but [Vehicle + Current Road] so the controlled process is not just difficult to model but that it is changing all the time and sometimes rapidly.