p71924506
/
carla
mirror of https://github.com/carla-simulator/carla.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Improved PID python agents

This commit is contained in:
glopezdiest 2024-12-17 10:27:38 +01:00 committed by Blyron
parent 2aef3c0ad9
commit 4734831605
2 changed files with 2 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
PythonAPI/carla/agents/navigation/basic_agent.py
View File

@ -61,7 +61,7 @@ class BasicAgent(object):
self._base_tlight_threshold = 5.0 # meters
self._base_vehicle_threshold = 5.0 # meters
self._speed_ratio = 1
self._max_brake = 0.5
self._max_brake = 0.6
self._offset = 0
# Change parameters according to the dictionary

2
PythonAPI/carla/agents/navigation/local_planner.py
View File

@ -79,7 +79,7 @@ class LocalPlanner(object):
self._target_speed = 20.0 # Km/h
self._sampling_radius = 2.0
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_I': 0.05, 'K_D': 0, 'dt': self._dt}
self._args_longitudinal_dict = {'K_P': 1.5, 'K_I': 0.05, 'K_D': 0.2, 'dt': self._dt}
self._max_throt = 0.75
self._max_brake = 0.3
self._max_steer = 0.8