Adjust steering PID controller

nyukhalov · May 1, 2020 · 2e6a102 · 2e6a102
1 parent ea8ecfb
commit 2e6a102
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Showing 2 changed files with 5 additions and 3 deletions.
diff --git a/carla_ai/av/control/controller.py b/carla_ai/av/control/controller.py
@@ -10,15 +10,15 @@ class Controller(object):
     def __init__(self, sim: Simulation, state_updater: StateUpdater):
         self.sim = sim
         self.state_updater = state_updater
-        self.steer_pid = PID(0.04, 0, 0.002)
+        self.steer_pid = PID(0.03, 0, 0.02)
         self.throttle_pid = PID(0.05, 0.00022, 0.008)
         self.prev_steer = 0.0
 
     def tick(self) -> None:
         cte = self.state_updater.cte
         speed_err = self.state_updater.speed_err
 
-        max_delta = 0.05
+        max_delta = 100
         steer = clamp(-1, self.steer_pid.update(cte), 1)
         steer = clamp(self.prev_steer - max_delta, steer, self.prev_steer + max_delta)
         self.prev_steer = steer

diff --git a/carla_ai/state_updater.py b/carla_ai/state_updater.py
@@ -99,7 +99,9 @@ def _get_target_speed(self) -> float:
         return closest_node.speed_limit
 
     def _calc_lateral_error(self) -> float:
-        cur_pose = self.ego_location
+        # use the center position intead of the rear axle center position
+        # as it works better with PID steering controller
+        cur_pose = self.sim.ego_car.get_transform().location
         path = self.planner.path
 
         closest_node_idx = None