Fix Steering Control - Githubissues

ll7 / paf21-1

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Fix Steering Control #102

Closed Bonifatius94 closed 2 years ago

Bonifatius94 commented 2 years ago

Context:

stable and robust steering
fix oscillating of the car on the road

Tasks:

idea: try to combine stanley contoller and heading towards method
idea: search bug in stanley contoller
idea: debug log
testing

Check-List

[x] Make sure odometry on front axle (consider axle distance)
[x] Check for reasonable heading and crosstrack errror

Goals:

set up the car with 50+ km/h and make the car drive smooth curve trajectories
don't drive into oncoming traffic, don't cross the lane bounds
smooth trajectory when driving straight lanes afterwards (no oscillating steering)
make steering robust