Since we calculate Steering dually with the PurePursuit-Controller for lower and Stanley-Controller for higher velocities, the Vehicle Controller needs to newly assess the incoming Steering-Signals and decide on a final Steering signal internally.
[ ] Overhaul currently implemented Sigmoid-Controller-Chooser-Function:
check other functions that allow more signal-mixing around the Cut-Off-Velocity, if that improves the total performance
check for the best Cut-Off-Velocity on newly implemented and tuned Controllers
[ ] Overhaul the redundant, maybe useless PID-Controller for Steering-Input-Signals
check (after tuning both controllers) if PID improves performance, if not, delete it
check, if better performance, how PID can be tuned
if better performance, tune PID
Definition of Done
[ ] Optimal Steering-Input processing in Vehicle Controller
[ ] Unneccessary, redunant and overly complex concepts are either gone or well documented
Description
Since we calculate Steering dually with the PurePursuit-Controller for lower and Stanley-Controller for higher velocities, the Vehicle Controller needs to newly assess the incoming Steering-Signals and decide on a final Steering signal internally.
Definition of Done