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Correcting PID controller issue 2544.

This commit is contained in:
Rowan McAllister 2020-03-03 10:09:52 -08:00 committed by bernat
parent 4a9129bfba
commit 77ed7e7ca1
2 changed files with 5 additions and 6 deletions
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5
PythonAPI/carla/agents/navigation/controller.py
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@ -120,7 +120,7 @@ class PIDLongitudinalController():
_de = 0.0
_ie = 0.0
return np.clip((self._K_P * _e) + (self._K_D * _de / self._dt) + (self._K_I * _ie * self._dt), 0.0, 1.0)
return np.clip((self._K_P * _e) + (self._K_D * _de) + (self._K_I * _ie), 0.0, 1.0)
class PIDLateralController():
@ -185,5 +185,4 @@ class PIDLateralController():
_de = 0.0
_ie = 0.0
return np.clip((self._K_P * _dot) + (self._K_D * _de /
self._dt) + (self._K_I * _ie * self._dt), -1.0, 1.0)
return np.clip((self._K_P * _dot) + (self._K_D * _de) + (self._K_I * _ie), -1.0, 1.0)

6
PythonAPI/carla/agents/navigation/local_planner.py
View File

@ -104,13 +104,13 @@ class LocalPlanner(object):
self._min_distance = self._sampling_radius * self.MIN_DISTANCE_PERCENTAGE
args_lateral_dict = {
'K_P': 1.95,
'K_D': 0.01,
'K_I': 1.4,
'K_D': 0.2,
'K_I': 0.07,
'dt': self._dt}
args_longitudinal_dict = {
'K_P': 1.0,
'K_D': 0,
'K_I': 1,
'K_I': 0.05,
'dt': self._dt}
# parameters overload