controller

Controller

横向控制：LQR, PurePuresuit, Stanley

纵向控制：PID

Overview

视频演示

Run Controller Demo

终端1：启动carla

cd path/to/carla/root

./CarlaUE4.sh

终端2：启动控制结点

source devel/setup.bash

Pure Pursuit

roslaunch controller controller_demo.launch control_method:="PurePursuit"

Stanley

roslaunch controller controller_demo.launch control_method:="Stanley"

LQR

roslaunch controller controller_demo.launch control_method:="LQR_kinematics"
roslaunch controller controller_demo.launch control_method:="LQR_dynamics"

Parameter Tuning

controller_config.yaml:

#横向控制相关参数
k_pure: 0.75 # PurePursuit"增益系数
k_cte: 5.0  #Stanley"增益系数


#LQR Q R矩阵参数

Q_ed: 10.0
Q_ed_dot: 1.0
Q_ephi: 15.0
Q_ephi_dot: 1.0
R_value: 20.0


#纵向控制PID
kp: 0.5
ki: 0.05
kd: 0.05

ROS TOPIC

Subscribed topic

• "/carla/" + role_name + "/odometry" ：获取车辆当前状态
• "/reference_line/local_waypoint" ：获取路径规划轨迹点

Published topic

• "/carla/" + role_name + "/vehicle_control_cmd" ： 发布控制指令
• "/trajectory"：发布行驶轨迹

Note for Algorithm

横向控制

纵向控制