Chapter 10
- PID, since only simple algebraic equations are being solved. Recall that MPC needs to solve a multivariate optimization in real time, which requires very high levels of processing power to ensure a low enough latency for driving.
- The integral term in PID corrects for any steady-state bias in the system by applying a control input based on the accumulated errors of the system.
- The derivative term in PID corrects for overshooting the setpoint by adjusting the control input based on the time rate of change of the error.
- A cost is used to assign a value to a trajectory where that value is minimized. Example costs are the cost of collisions, the cost of sequential actuations, the cost of using actuators, and the cost of not being at the destination.
A constraint is a physical limit of the system, such as turn radius, maximum lateral and longitudinal acceleration, vehicle dynamics, and maximum steering angle.