Remove "jerky" acceleration - Githubissues

lucav76 / CarND-Capstone

Fork of the Udacity project to complete the System Integration task, for the "total-recall-dryvers"

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Remove "jerky" acceleration #25

Closed kkweon closed 6 years ago

kkweon commented 6 years ago

Summary

The acceleration is not constant, but it's "pumping" according to the reviewer
Still needs to investigate what causing it

TimSoft77 commented 6 years ago

In my new taDebug branch, I've managed to eliminate the "pumping" issue when running against ground_truth data. Notable changes:

Accel pid controller constants changed. This was the primary fix for the "pumping" issue. I think our primary problem was the gains were too high.
waypoint_updater.py changed to use the current velocity to choose the deceleration rate, (not just decide if to stop), and decelerate linearly to EARLY_STOP_DIST meters ahead of the traffic light.
tl_detector.py altered to use ground_truth data - do not merge this with master.

If someone else can test, feel free to merge the changes to master except those to tl_detector.py.