[Feature]: Inspiration / Use of external autopilotes

[Johannes1098]

Description

Is there an autopilot in CARLA or elsewhere that can be used to improve our own control logic.

Definition of Done

• documentation about different autopilotes
• including pros and cons of different autopilote systems

[vinzenzm]

You can find documentation on the carla traffic management system under the following link: https://carla.readthedocs.io/en/latest/adv_traffic_manager/
In short there is a global planner, which can get accurate positions for each vehicle as well as optimize routes which might collide with each other. It's certainly a space for inspiration also for all other systems.

For acting specifically the following link provides the PID controller for actuating steering throttle and brake control.
https://carla.org/Doxygen/html/dc/d75/PIDController_8h_source.html
Also the included constants- file is quite interesting:
https://carla.org/Doxygen/html/d1/d45/Constants_8h.html
There are PID-Values for the controller.
Maybe check this out before seaching for our own.

Maybe also related to the control scheme:
https://github.com/MoemenGaafar/CARLA-PID-Controller