Navigation of Self Driving Car
Developer @hobby, home
Implemented Longitudinal and Lateral controller to control cruise velocity and steer angle respectively
An improved PID controller is used as Longitudinal controller to control throttle and brake
Geometric path tracking controllers namely Pure Pursuit and Stanley controllers are used to implement Lateral Controller of the car
Pure Pursuit relies on the lookahead distance while Stanley controller relies on the crosstrack and heading error
Project is implemented in Carla simulator and Python client is used to control the ego in Carla
- PID
- Pure Pursuit
- Stanley Controller
- Carla
- Self Driving Car
