How to tune lateral LQR controller in Apollo?

MaisJamal commented 2 years ago

System information

OS Platform and Distribution : Ubuntu 20.04
Apollo version : Apollo 7.0

Steps to reproduce the issue:

I'm running Apollo with Carla, the vehicle in Carla is MKZ 2017 and in Apollo As well. From the behavior it's obvious that the lateral LQR controller in Apollo needs to be tuned with the new vehicle, I have checked this page "How to Tune Control Parameters" but it's not much of help, do you have any suggestion how to tune the controller in an effective way?

Supporting materials :

https://user-images.githubusercontent.com/17913075/190626230-53a3a05f-c342-46cc-aa62-a0b261ddfac6.mp4

McGrady-175 commented 2 years ago

hello,I want to kown how to fix the last problem:https://github.com/ApolloAuto/apollo/issues/14532

thank you very much.

MaisJamal commented 1 year ago

@McGrady-175 Hello, I have fixed the localization message in the Carla-Apollo bridge that I am developing. The Control behavior is not perfect but it's better than before. The bridge repository is public now, I would be happy if you can test it and contribute to it .

macDure commented 1 year ago

could you check the frequency of every modules ?

ApolloAuto / apollo

How to tune lateral LQR controller in Apollo? #14597

System information

Steps to reproduce the issue:

Supporting materials :