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carla-simulator / carla

Open-source simulator for autonomous driving research.
http://carla.org
MIT License
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Unexpected values on agents' acceleration got by agent.get_acceleration() #7423

Open BoluoMonster opened 3 months ago

BoluoMonster commented 3 months ago

I am working on getting the ego-agent's acceleration by agent.get_acceleration(). However, I find the resulting values are unrealistic. Here is the data log: image All values in the image are with the unit $m/s^2$. The throttle is constantly 0.75, but the acceleration changes sharply, which is weird. By the way, the simulation is in synchronous mode.

glopezdiest commented 2 months ago

Could you provide more information about the exact experiment you are running? Are you going in a straight line or turning? which vehicle is it?

The only thing that I can say right now is that constant throttle doesn't mean constant acceleration. Current speed, aerodynamics, gears, motors... all these factors affect the vehicle differently, hence why I need more information about the experiment

BoluoMonster commented 2 months ago

@glopezdiest Thanks for replying! Here is the experimental setting: Vehicle: vehicle.audi.a2 Controller: PID controller from "PythonAPI" Testing scenario: a bend in Town02

微信图片_20240511120315

The vehicle is tracking a lookahead point that is 2.0m ahead. image Following is what will be observed when the vehicle is turning.

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We can find that the acceleration changes sharply. And it also happens when the car is moving straight forward.

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