Open BritaryZhou opened 2 days ago
Thank you for your interest! We select the target point from the densified 1-meter path points, convert meta actions into target speeds, and utilize two PID controllers: one that takes the current speed and desired target speed to output throttle and braking, and the other that receives the angle difference between the ego vehicle’s heading and the target point to output the steering value. Please refer to A2 for more details. Thanks again!
Thank you so much for your quick reply~ :) I still have some problems and am not sure if the following understanding is correct:
The control signal is produced with these inputs: (1) target point. (generated from HD map and default route waypoints from CARLA) (2) target speed. (from predicted meta action). (3) current speed. (from ego car status) And the planning results of model only contain the meta action. (Please correct me if I am wrong)
However, the default route waypoints from CARLA are fixed, which does not consider the objects. Then how does the ego car knows to bypass and change lanes when there is a static vehicle in front of the ego car ?
BTW, is there any time schedule of releasing the code? Thanks again!
Thank you for such great work! I have some questions about how to convert the meta action to control signals. The appendix A.1 of following "planned waypoints" part only explains about the process of tracking reference path, but how does the contoller handles the meta actions to produce the final waypoints?
Thanks for your reply~