Merge pull request #45 from una-auxme/11-research-Acting-paf21_1-and-…

…Autoware

Research results for Acting of  PAF21_1 and Autoware

doc/03_research/01_acting/autoware_acting.md

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+# Research: [Autoware Acting](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-architecture/control/#autoware-control-design)
+
+## Inputs
+
+* Odometry (position and orientation, from Localization module)
+* Trajectory (output of Planning)
+* Steering Status (current steering of vehicle, from Vehicle Interface)
+* Actuation Status (acceleration, steering, brake actuations, from Vehicle Interface)
+* (“vehicle signal commands” directly into Vehicle Interface -> Handbrake, Hazard Lights, Headlights, Horn, Stationary Locking, Turn Indicators, Wipers etc.)
+
+### General Component Architecture
+
+![Node diagram](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/components/images/Control-Bus-ODD-Architecture.drawio.svg)
+
+### With the Control Module
+
+![control-component](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-architecture/control/image/control-component.drawio.svg)
+
+## [Trajectory Follower](https://autowarefoundation.github.io/autoware.universe/main/control/trajectory_follower_base/)
+
+* generates control command to follow reference trajectory from Planning
+* computes lateral (steering) and longitudinal (velocity) controls separately
+* lateral controller: mpc (model predictive) or pure pursuit
+* longitudinal: “currently only” PID controller
+
+## Vehicle Command Gate
+
+* filters control commands to prevent abnormal values
+* sends commands to [Vehicle Interface](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/components/vehicle-interface/)
+
+## Outputs
+
+* steering angle
+* steering torque
+* speed
+* acceleration

doc/03_research/01_acting/paf21_1_Acting.md

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+# Research: PAF21_1 Acting
+
+## Inputs
+
+* waypoints of the planned route
+* general odometry of the vehicle
+
+## Curve Detection
+
+* Can detect curves on the planned trajectory
+* Calculates the speed in which to drive the detected Curve
+![Curve](https://github.com/ll7/paf21-1/raw/master/imgs/curve.PNG)
+
+## Speed Control
+
+* [CARLA Ackermann Control](https://carla.readthedocs.io/projects/ros-bridge/en/latest/carla_ackermann_control/)
+* Speed is forwarded to the CARLA vehicle via Ackermann_message, which already includes a PID controller for safe driving/accelerating etc.
+* no further controlling needed  -> speed can be passed as calculated
+
+## Steering Control
+
+### Straight Trajectories
+
+* **Stanley Steering Controller**
+  * Calculates steering angle from offset and heading error
+  * includes PID controller
+ ![Stanley Controller](https://github.com/ll7/paf21-1/raw/master/imgs/stanley.png)
+
+### Detected Curves
+
+* **Naive Steering Controller** (close to pure pursuit)
+  * uses Vehicle Position + Orientation + Waypoints
+    * Calculate direction to drive to as vector
+    * direction - orientation = Steering angle at each point in time
+    * speed is calculated in Curve Detection and taken as is