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预测点 #93

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CoderXuans opened this issue Nov 12, 2024 · 2 comments
Open

预测点 #93

CoderXuans opened this issue Nov 12, 2024 · 2 comments

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@CoderXuans
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@deepcs233
你好，请问预测出来的航迹点是全局坐标系下的吗？我打算使用MPC进行改进，但是预测出来的点总是在自车后面。
@CoderXuans
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@deepcs233
我发现预测出来的点是车辆坐标系下的x和y值的变化量，这种情况是不是只能使用PID进行控制了，毕竟无法获取到在全局坐标系下的航点。

@CoderXuans
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@deepcs233 请问可以使用MPC算法更换PID算法吗？

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@CoderXuans