Controller selection in OpenCDA

[hlwei]

How to specify the controller in OpenCDA? I know there is a PID controller in the source code. But I cannot find where you define the controller type. Could you please provide some comments and help on this? Thx.

[wangxso]

in the default.yaml you can specify the controller like this

 controller:
    type: pid_controller # this has to be exactly the same name as the controller py file
    args:
      lat:
        k_p: 0.75
        k_d: 0.02
        k_i: 0.4
      lon:
        k_p: 0.37
        k_d: 0.024
        k_i: 0.032
      dynamic: false # whether use dynamic pid setting
      dt: ${world.fixed_delta_seconds} # this should be equal to your simulation time-step
      max_brake: 1.0
      max_throttle: 1.0
      max_steering: 0.3

and you need write some controller algorithm in opencda/core/actuation/xxx_controller.py
I don't know if it's right or not, I hope it can help you.

[wangxso]

in the default.yaml you can specify the controller like this

 controller:
    type: pid_controller # this has to be exactly the same name as the controller py file
    args:
      lat:
        k_p: 0.75
        k_d: 0.02
        k_i: 0.4
      lon:
        k_p: 0.37
        k_d: 0.024
        k_i: 0.032
      dynamic: false # whether use dynamic pid setting
      dt: ${world.fixed_delta_seconds} # this should be equal to your simulation time-step
      max_brake: 1.0
      max_throttle: 1.0
      max_steering: 0.3

and you need write some controller algorithm in opencda/core/actuation/xxx_controller.py I don't know if it's right or not, I hope it can help you.

and you also can read the doc with customization