deviating from waypoints during turning

[timmao955]

Hi, I'm facing a problem that the ego vehicle cannot work well during turning. I have tested b2d in some scenarios that it works well during driving straightly but bad during turning. Do you know what's the problem?

A demo is linked. Thank you.

[timmao955]

bev.mp4

[jayyoung0802]

Hi, @timmao955. Which algorithm is tested? You can visualize the predicted trajectory. It seems like PID does not work well. All algorithms adapt the same default PID parameters, and we do not adjust them.

[timmao955]

Hi, @timmao955. Which algorithm is tested? You can visualize the predicted trajectory. It seems like PID does not work well. All algorithms adapt the same default PID parameters, and we do not adjust them.

I'm using vad and the predicted trajectory looks good. Probably the reason is that I'm using carla ue5, for there are some updates between ue4 and ue5. The same scenario (turning) in carla ue4 works better than ue5.

Maybe I need to change the carla settings like the followings?
settings.fixed_delta_seconds = None Change it to a constant like 0.1 or 0.05.
Or settings.synchronous_mode = False Set it to True.

[jayyoung0802]

Sure, you can have a try. But maybe it's not the core problem. You can read the details of synchronous_mode in doc.