Carla: Vehicle Max Acceleration

[lucasnmatias]

Hi, I work at IVEX and our focus is on the evaluation of autonomous vehicles behavior and decision making. We use CARLA to implement challenging scenarios to evaluate vehicles behavior in those scenarios. Right we are struggling to control the vehicles acceleration.

Here is my question, is there any easy way to limit the max acceleration of a vehicle in CARLA?

[Glazyee]

I have been trying these things during the last weeks. I think you can try to set up a friction trigger to limit the maximal deceleration (https://carla.readthedocs.io/en/latest/tuto_G_add_friction_triggers/). Or maybe you can try to adjust the parameters in class "carla.WheelPhysicsControl". But if you want to control the deceleration more precisely, I have been failed to find a solution. It seems it will always lead to a full brake, no matter how you change the value of brake.

[lucasnmatias]

Thank you very much. Yes, I've been trying to work with PhysicsControl parameters but it's hard to find good/smooth solution. All I have read right now leads to implementing the full PID controller which would take some time. That's why I decided to ask here to know if there is easier way to limit the vehicle max acceleration.

[Glazyee]

I am not sure if a PID controller would solve this problem. For me, the dynamic model of the vehicle is also a little questionable. And the actuator "Brake" could only be set to brake or no brake, no matter you input a value like 0.7, 0.1 for the brake. Hope it will work in your situation.

[germanros1987]

@lucasnmatias you would like to re-define the vehicle maximum acceleration? The parameters that we are using for our vehicles are the ones provided by OEMs. Could you elaborate a bit more and explain what is the actual problem?

[hh0rva1h]

@germanros1987 I can't speak for @lucasnmatias but I guess he found the vehicle dynamics to be unrealistic and wanted to make it more realistic? At least we have a similar problem.

We have been investigating the vehicle dynamics and at least speaking for the Tesla Model 3 vehicle we find the accelerations quite extreme:

Accelerations of way over 10m/s^2 seem really unrealistic to us. Furthermore to us it is very strange that with zero throttle and zero brake the car is decelerating that extremely. Also the heavy oscillations in the graph at around 0.82 throttle are worrying us.

Velocities (v) in the graph are given in m/s and accelerations (a) in m/s^2.

[munirjojoverge]

@germanros1987 , where can the vehicle maximum acceleration be found? I've looked on the VehiclePhysicsControl.

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