lms-org / config_auto_drive

main repository for config files (includes all needed modules & libs as git submodules)

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Neuer Regler #83

Open mp4096 opened 7 years ago

mp4096 commented 7 years ago

Context

Available sensor data

encoder at the motor
IMU (3-axis accelerations, 3-axis gyro)

-> linear velocity and angular velocity after Kalman filtering

Available environment data

Path given by a polygonal chain (road lane geometry + obstacles)
Obstacles are already in this path
Current path context: Curve begin, curve end, straight line
Speed limit from road signs
Maximum technically feasible velocity (sensor limits etc.)

Available controls

Motor speed
Steering angles, front and rear

Control goals

Moderate slip / drifting (do not drift away out of the curves)
Maintain reference velocity (depends on the current path context and speed limits)

mp4096 commented 7 years ago

Is being developed in https://github.com/tum-phoenix/control-systems

Phibedy commented 7 years ago

Muss man noch testen

Phibedy commented 7 years ago

Zum nächsten Cup :)