Lateral and longitudinal controller for vehicle using stanley controller for lateral control
-The pathway for the vehicle has to be provided to it(provided by default)
-The code has to be run in Carla Simulation made by unity engine
-To run the simulator:
*In LINUX:
./CarlaUE4.sh /Game/Maps/RaceTrack -windowed -carla-server -benchmark -fps=30
*In Windows:
CarlaUE4.exe /Game/Maps/RaceTrack -windowed -carla-server -benchmark -fps=30
-To run the controller:
*In LINUX:
python3 module_7.py
*In Windows:
python module_7.py
-The trajectory followed here is:
-The steering output using PID controller is plotted below:
-The throttle and speed output is shown below respectively:
