Toy Car Controller

This repository provides a small simulation environment based a four wheel model of a car and a Pacejka tire model. It also contains the implementation of a PID controller for constant longitudinal speed tracking and a Pure Pursuit controller for the lateral control of the car, using the steering angle.

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Accessing the Configuration File

The configuration file for the PID and Pure Pursuit controllers can be found at: src/CONTROLLER_PARAMS.py

Understanding the Controllers

• PID Controller: A Proportional-Integral-Derivative (PID) controller uses three terms to adjust the control output:

  • Proportional: Reacts to current error.
  • Integral: Reacts to the accumulation of past errors.
  • Derivative: Reacts to the rate of change of the error.

• Pure Pursuit Controller: This controller follows a path by calculating the steering angle needed to reach a target point on the path ahead of the car, allowing for smoother turns and better trajectory tracking.

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Getting Started

Prerequisites

Before running the code, ensure you have the following:

1. Clone the Repository

   git clone https://github.com/your-repo/Duckietown-Activity.git
   cd Duckietown-Activity
   
   

2. Install Requirements Install the necessary packages from requirements.txt. You may want to verify compatibility based on your environment:

   pip install -r requirements.txt
   

3. Edit Controller Parameters Modify the controller parameters in:

src/CONTROLLER_PARAMS.py

4. Run the Simulation Execute the simulation to visualize the controller's performance:

   python src/run.py
   
   

Example of the controller performance

Too fast - collision

Slower - No collision