Control¶
The package provides operators and classes useful for controlling the ego vehicle. These operators ensure that the vehicle closely follows a sequence of waypoints sent by the planning component.
Execute the following command to run a demo of the MPC controller:
python3 pylot.py --flagfile=configs/mpc_agent.conf
Execute the following command to run a demo using solely the PID controller:
python3 pylot.py --flagfile=configs/e2e.conf
Important flags¶
--control
: Sets which control algorithm to use: Pylot currently offers three alternatives:--pid_p
: Sets the p parameter of the PID controller.--pid_i
: Sets the i parameter of the PID controller.--pid_d
: Sets the d parameter of the PID controller.