Autonomous Vehicle Reverse Malfunction Test - PID & Stanley Controllers
In this demo, the car is using a longitudinal PID controller and an enhanced Stanley design for the lateral controller. The original Stanley controller was modified to improve performance based on field testing results from the simulator. The controller uses both runtime metrics and historical averages during the run on the track to dynamically adjust.
This edge case test simulates that there is either an electro-mechanical, electronic or unknown system error that causes a malfunction in the actuators or there is an emergency override to the planned path with the same result. The idea is to see how well the controllers and vehicle handle and recover from this apparent malfunction, planned or not.
The test run initiates a manual override to the incoming waypoint stream being received from the local planner. The runtime displays, both panel readouts and realtime graphic displays show the effect of an abrupt unplanned sequence of stop, reverse, stop and forward again, while attempting to following the path plan as usual with the controllers still receiving and trying to respond to the nominal reference trajectory signals.
Compare to a normal run in this video: • Autonomous Vehicle Racetrack Run - PID and...