Updated to drive smoothly at 49.5mph:
Updated to drive smoothly at 49.5mph:

* Used spline fitting to fit next 3 waypoints
* Calculated number of points and spacing within horizon to have constant velocity

BrendanSchell/SDCND_T3_P1,BrendanSchell/SDCND_T3_P1,BrendanSchell/SDCND_T3_P1,BrendanSchell/SDCND_T3_P1,BrendanSchell/SDCND_T3_P1