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Reordered PID

This commit is contained in:
Guillermo 2021-07-28 11:06:56 +02:00 committed by bernat
parent deda2c3e5e
commit 18494b799d
2 changed files with 10 additions and 11 deletions
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17
PythonAPI/carla/agents/navigation/controller.py
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@ -106,8 +106,7 @@ class PIDLongitudinalController():
PIDLongitudinalController implements longitudinal control using a PID. PIDLongitudinalController implements longitudinal control using a PID.
""" """
def __init__(self, vehicle, K_P=1.0, K_I=0.0, K_D=0.0, dt=0.03):
def __init__(self, vehicle, K_P=1.0, K_D=0.0, K_I=0.0, dt=0.03):
""" """
Constructor method. Constructor method.
@ -119,8 +118,8 @@ class PIDLongitudinalController():
""" """
self._vehicle = vehicle self._vehicle = vehicle
self._k_p = K_P self._k_p = K_P
self._k_d = K_D
self._k_i = K_I self._k_i = K_I
self._k_d = K_D
self._dt = dt self._dt = dt
self._error_buffer = deque(maxlen=10) self._error_buffer = deque(maxlen=10)
@ -160,11 +159,11 @@ class PIDLongitudinalController():
return np.clip((self._k_p * error) + (self._k_d * _de) + (self._k_i * _ie), -1.0, 1.0) return np.clip((self._k_p * error) + (self._k_d * _de) + (self._k_i * _ie), -1.0, 1.0)
def change_parameters(self, K_P, K_D, K_I, dt): def change_parameters(self, K_P, K_I, K_D, dt):
"""Changes the PID parameters""" """Changes the PID parameters"""
self._k_p = K_P self._k_p = K_P
self._k_d = K_D
self._k_i = K_I self._k_i = K_I
self._k_d = K_D
self._dt = dt self._dt = dt
@ -173,7 +172,7 @@ class PIDLateralController():
PIDLateralController implements lateral control using a PID. PIDLateralController implements lateral control using a PID.
""" """
def __init__(self, vehicle, offset=0, K_P=1.0, K_D=0.0, K_I=0.0, dt=0.03): def __init__(self, vehicle, offset=0, K_P=1.0, K_I=0.0, K_D=0.0, dt=0.03):
""" """
Constructor method. Constructor method.
@ -187,8 +186,8 @@ class PIDLateralController():
""" """
self._vehicle = vehicle self._vehicle = vehicle
self._k_p = K_P self._k_p = K_P
self._k_d = K_D
self._k_i = K_I self._k_i = K_I
self._k_d = K_D
self._dt = dt self._dt = dt
self._offset = offset self._offset = offset
self._e_buffer = deque(maxlen=10) self._e_buffer = deque(maxlen=10)
@ -251,9 +250,9 @@ class PIDLateralController():
return np.clip((self._k_p * _dot) + (self._k_d * _de) + (self._k_i * _ie), -1.0, 1.0) return np.clip((self._k_p * _dot) + (self._k_d * _de) + (self._k_i * _ie), -1.0, 1.0)
def change_parameters(self, K_P, K_D, K_I, dt): def change_parameters(self, K_P, K_I, K_D, dt):
"""Changes the PID parameters""" """Changes the PID parameters"""
self._k_p = K_P self._k_p = K_P
self._k_d = K_D
self._k_i = K_I self._k_i = K_I
self._k_d = K_D
self._dt = dt self._dt = dt

4
PythonAPI/carla/agents/navigation/local_planner.py
View File

@ -70,8 +70,8 @@ class LocalPlanner(object):
self._dt = 1.0 / 20.0 self._dt = 1.0 / 20.0
self._target_speed = 20.0 # Km/h self._target_speed = 20.0 # Km/h
self._sampling_radius = 2.0 self._sampling_radius = 2.0
self._args_lateral_dict = {'K_P': 1.95, 'K_D': 0.2, 'K_I': 0.05, 'dt': self._dt} self._args_lateral_dict = {'K_P': 1.95, 'K_I': 0.05, 'K_D': 0.2, 'dt': self._dt}
self._args_longitudinal_dict = {'K_P': 1.0, 'K_D': 0, 'K_I': 0.05, 'dt': self._dt} self._args_longitudinal_dict = {'K_P': 1.0, 'K_I': 0.05, 'K_D': 0, 'dt': self._dt}
self._max_throt = 0.75 self._max_throt = 0.75
self._max_brake = 0.3 self._max_brake = 0.3
self._max_steer = 0.8 self._max_steer = 0.8