Controller Parameters
The following dropdown menus contain working parameter sets for each controller and car, which work well for hardware experiments in Technopark. Navigate to experiments/ and into the specific folder of the controller that shall be tested. Edit the values in the controller.yaml file.
PID Controller¶
Model parameters as well as measurements can be found on each car specific page.
| Car | Type | target_velocity | lag_compensation_time | Kd | Kp | Ki | steer_limit |
|---|---|---|---|---|---|---|---|
| Ben | RWD | 3 | 0.1 | 0 | 3 | 0 | 0.4 |
| Daniel | RWD | 3 | 0.1 | 0 | 3 | 0 | 0.4 |
| Alex | RWD | 3 | 0.1 | 0 | 3 | 0 | 0.4 |
| Robin | RWD | 3 | 0.1 | 0 | 3 | 0 | 0.4 |
| Petar | AWD | 3 | 0.1 | 0 | 3 | 0 | 0.4 |
| Christian | AWD | 3 | 0.1 | 0 | 3 | 0 | 0.4 |
| Rahel | Buggy | 2 | 0.5 | 0 | 5 | 0 | 0.3 |
| Sabrina | Buggy | 2 | 0.5 | 0 | 5 | 0 | 0.3 |
MPCC Controller¶
Model parameters as well as measurements can be found on each car specific page.
| Car | Type | Q1 | Q2 | R1 | R2 | R3 | q |
|---|---|---|---|---|---|---|---|
| Ben | RWD | 120 | 160 | 0.1 | 0.3 | 0.2 | 2 |
| Daniel | RWD | 120 | 160 | 0.1 | 0.3 | 0.2 | 2 |
| Alex | RWD | 120 | 160 | 0.1 | 0.3 | 0.2 | 2 |
| Robin | RWD | 120 | 160 | 0.1 | 0.3 | 0.2 | 2 |
| Petar | AWD | 120 | 160 | 0.1 | 0.3 | 0.2 | 2 |
| Christian | AWD | 120 | 160 | 0.1 | 0.3 | 0.2 | 2 |
| Rahel | Buggy | 220 | 280 | 0.55 | 0.4 | 0.2 | 0.2 |
| Sabrina | Buggy | 220 | 280 | 0.55 | 0.4 | 0.2 | 0.2 |
The lag_compensation_time can vary between localization systems. We found for Lighthouse, lag_compensation_time = 0.005 can be a good value.