Clean edges with the pencil tool

Hi I am drawing with a bamboo tablet a road on a map and the edges of my stroke look bumpy, ie not smooth, using the pencil tool.  I have the hardness set to 0.  If I hold the shift key and draw parts of the road that are straight I get a nice smooth edge but when I add in the curves I must have terrible shaky hand cos its so bumpy.  Is there a smooth tool or something similar?

Resolution is set too low. you can either increase the documents resolution (before drawing) or soften the brush.

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