Apollo: Are there any document about control module?

[Wsine]

there are too many code about control module, and it seems there are several times bug fix about control part. so can you please some documentations to help to review the control module, cause it is the safe guarantee part of the system.

[Capri2014]

@Wsine There are a few documents related to control under https://github.com/ApolloAuto/apollo/tree/master/docs/howto

Also the default lat + lon controllers have more than thousands of hours of test on it and even on different vehicle platforms and are quite reliable under different driving scenarios.

The fix is mainly for MPC controller. Which is by default turned off. And the internal version of this has also been tested for quite a long time.

But again I would suggest be special cause when you run close loop system on real car. :)

[Wsine]

thanks @Capri2014 . I am writing a control algorithm, so i take apollo control algorithm as references. thanks for answering.

[Capri2014]

cool @Wsine please keep us posted. :)