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Author: yymmaa0000

README.md

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+# Vehicle_Controller_Design_Project
+In this project, I designed a LQR controller to control a car following a given trajectory. 
+The goal of this project is to make the car finish the path as quickly as possible while still maintaining good accuracy.
+
+The tasks for this project include:
+1. Model the car using a bicycle model
+2. linearize the model and decouple them into lateral and longitudinal models
+3. Design a controller for both lateral and longitudinal models and tune the parameters to get the optimal peformance
+
+The detailed modeling of the car can be found in the reference. The liearization process can be found in the "Calculation and result" folder
+
+For this project, I designed 2 controllers. One is slow but accurate, the other is fast but barely satisfy the accuracy requirement. 
+These two controllers can be found in controller_slow.py and controller_fast.py
+
+Here are some simulation results:
+
+### Fast Controller ###
+* Total time:  74.55 s
+* Maximun distance from reference:  5.7268493347214475 m
+* Average distance from referencet:  1.3019881974778402 m
+![alt text](https://github.com/yymmaa0000/Vehicle_Controller_Design_Project/blob/master/Calculation%20and%20result/fast_controller_result_1.PNG)
+![alt text](https://github.com/yymmaa0000/Vehicle_Controller_Design_Project/blob/master/Calculation%20and%20result/fast_controller_result_2.PNG)
+
+### Slow Controller ###
+* Total time:  157.45000000000002 s
+* Maximun distance from reference:  5.6915563863996335 m
+* Average distance from referencet:  0.7979645575292 m
+![alt text](https://github.com/yymmaa0000/Vehicle_Controller_Design_Project/blob/master/Calculation%20and%20result/slow_controller_result_1.PNG)
+![alt text](https://github.com/yymmaa0000/Vehicle_Controller_Design_Project/blob/master/Calculation%20and%20result/slow_controller_result_2.PNG)
+
+
+Reference
+1. Rajamani Rajesh. Vehicle dynamics and control. Springer Science & Business Media,2011.
+2. Kong Jason, et al. "Kinematic and dynamic vehicle models for autonomous driving
+control design." Intelligent Vehicles Symposium, 2015.