In the last site test, Carla didn't quite brake in time to stop for the light since the distance to speed up and then slow back down to the light was pretty short and there was some slight speed overshoot and then not strong enough PID braking.
To improve this for the next test, from looking at the bag data we could try reducing the throttle P gain by 0.5 and increasing the braking P gain by 4 to bias more strongly toward getting Carla to stop in time.
edufford
commented
6 years ago
In the last site test, Carla didn't quite brake in time to stop for the light since the distance to speed up and then slow back down to the light was pretty short and there was some slight speed overshoot and then not strong enough PID braking.
To improve this for the next test, from looking at the bag data we could try reducing the throttle P gain by 0.5 and increasing the braking P gain by 4 to bias more strongly toward getting Carla to stop in time.
@dinoboy197 What do you think?