Fix steering/ oscillation - Githubissues

ll7 / paf21-1

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Fix steering/ oscillation #109

Closed AxelBo closed 2 years ago

AxelBo commented 2 years ago

Context:

stable and robust steering
fix oscillating of the car on the road for high speeds in curves

Tasks:

fix up stanley controller
consider new approaches

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