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

PID fixes

This commit is contained in:
Guillermo 2019-12-10 18:56:13 +01:00 committed by bernat
parent 34a030f5bd
commit df6a1ac7ea
2 changed files with 12 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

13
LibCarla/source/carla/trafficmanager/MotionPlannerStage.cpp
View File

@ -10,7 +10,7 @@ namespace PlannerConstants {
static const float CRAWL_SPEED = 10 / 3.6f;
static const std::vector<float> URBAN_LONGITUDINAL_DEFAULTS = {0.1f, 0.15f, 0.01f};
static const std::vector<float> HIGHWAY_LONGITUDINAL_DEFAULTS = {5.0f, 0.1f, 0.01f};
static const std::vector<float> LATERAL_DEFAULTS = {10.0f, 0.0f, 0.1f};
static const std::vector<float> URBAN_LATERAL_DEFAULTS = {10.0f, 0.0f, 0.1f};
static const std::vector<float> HIGHWAY_LATERAL_DEFAULTS = {3.0f, 0.0f, 20.0f};
}
using namespace PlannerConstants;
@ -22,9 +22,9 @@ namespace PlannerConstants {
std::shared_ptr<TrafficLightToPlannerMessenger> traffic_light_messenger,
std::shared_ptr<PlannerToControlMessenger> control_messenger,
Parameters &parameters,
std::vector<float> longitudinal_parameters = URBAN_LONGITUDINAL_DEFAULTS,
std::vector<float> urban_longitudinal_parameters = URBAN_LONGITUDINAL_DEFAULTS,
std::vector<float> highway_longitudinal_parameters = HIGHWAY_LONGITUDINAL_DEFAULTS,
std::vector<float> lateral_parameters = LATERAL_DEFAULTS,
std::vector<float> urban_lateral_parameters = URBAN_LATERAL_DEFAULTS,
std::vector<float> highway_lateral_parameters = HIGHWAY_LATERAL_DEFAULTS)
: PipelineStage(stage_name),
localization_messenger(localization_messenger),
@ -32,9 +32,9 @@ namespace PlannerConstants {
traffic_light_messenger(traffic_light_messenger),
control_messenger(control_messenger),
parameters(parameters),
longitudinal_parameters(longitudinal_parameters),
urban_longitudinal_parameters(urban_longitudinal_parameters),
highway_longitudinal_parameters(highway_longitudinal_parameters),
lateral_parameters(lateral_parameters),
urban_lateral_parameters(urban_lateral_parameters),
highway_lateral_parameters(highway_lateral_parameters){
// Initializing the output frame selector.
@ -90,6 +90,9 @@ namespace PlannerConstants {
if (speed_limit > HIGHWAY_SPEED) {
longitudinal_parameters = highway_longitudinal_parameters;
lateral_parameters = highway_lateral_parameters;
} else {
longitudinal_parameters = urban_longitudinal_parameters;
lateral_parameters = urban_lateral_parameters;
}
// State update for vehicle.

6
LibCarla/source/carla/trafficmanager/MotionPlannerStage.h
View File

@ -54,10 +54,12 @@ namespace cc = carla::client;
/// Run time parameterization object.
Parameters &parameters;
/// Configuration parameters for the PID controller.
std::vector<float> longitudinal_parameters;
std::vector<float> urban_longitudinal_parameters;
std::vector<float> highway_longitudinal_parameters;
std::vector<float> lateral_parameters;
std::vector<float> urban_lateral_parameters;
std::vector<float> highway_lateral_parameters;
std::vector<float> longitudinal_parameters;
std::vector<float> lateral_parameters;
/// Controller object.
PIDController controller;
/// Number of vehicles registered with the traffic manager.