ll7 / paf21-1

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Enhance Steering Control of Vehicle Controller #65

Closed ourendingdays closed 2 years ago

ourendingdays commented 2 years ago

30 Related Issue

Tasks:

try out a more sophisticated steering control, e.g. the Stanley method
figure out if this improves the driving behavior (otherwise we keep the simple approach)
evaluate how the steering control should interact with the local planner (provide target speed as route meta-data?!)

Goals:

successfully run a scenario for driving a curve
evaluate the final approach for the driving controller

Big Picture:

combine steering and velocity control for driving curves more dynamically
compute very realistic driving trajectories