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YukunXia / Carla_iLQR_MPC

Implementation of the real-time MPC based on iLQR in Carla simulator
MIT License
264 stars 57 forks source link

Regarding the running frequency #7

Open mikezhang95 opened 2 years ago

mikezhang95 commented 2 years ago

First of all, thank you for open-sourcing this wonderful project!

You mentioned the running frequency could be higher than 1000Hz. Do you mean the MPC control frequency? Could you explain what parameters you use to achieve this speed?

For me, I use MPC Horizon 10 and Max Iteration 300 but only achieve 10Hz. MPC generating one control action costs 0.1s.

Is this a normal situation? Are there other parameters I should adjust?

Guanmupp commented 3 days ago

First of all, thank you for open-sourcing this wonderful project!

You mentioned the running frequency could be higher than 1000Hz. Do you mean the MPC control frequency? Could you explain what parameters you use to achieve this speed?

For me, I use MPC Horizon 10 and Max Iteration 300 but only achieve 10Hz. MPC generating one control action costs 0.1s.

Is this a normal situation? Are there other parameters I should adjust?

hello, could you please help me with the right jax version suitable for this project?