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[Feature]: Implement Velocity Controller to also actively Brake #136
Comments
Compared so far:
Why are 2 and 3 so similar: |
Since a braking PID controller with I and D parts will badly interact with the throttlePID controller ( and since braking is alot simpler considering that the vehicle model already de-accelerates alot and stable when no throttle is used) a simple P-Controller will be used for braking. |
For now the negative-throttle solution is implemented, as it has the most predictable outcome while highly improving braking times without interfering with other controllers since there are none (as a braking-PID would do). |
Description
Since the current implementation of the velocity controller only includes a PID for throttling ( accelerating the car) and uses the included frictions of the simulation to brake, which is not good enough to control the velocity especially on jumping to lower max_velocities, BRAKING-functionality needs to be included.
Implement new Controller for the brake-inputs of carla:
Definition of Done
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