Fixed the issue where the vehicle could not reverse when the speed was too slow. Fixed the oscillation issue when reversing.

Author: hhxjqm

GEMstack/knowledge/defaults/current.yaml

@@ -22,7 +22,7 @@ control:
 
     # Stanley controller parameters (fine tune this)
     stanley:
-        control_gain: 0.1
+        control_gain: 1.5
         softening_gain: 0.2
         desired_speed: trajectory        # Speed reference source: can be "trajectory", "path", or a constant value
 
@@ -34,9 +34,9 @@ control:
 
     # Shared longitudinal control parameters
     longitudinal_control:
-        pid_p: 1.0                       # Proportional gain for speed PID controller
+        pid_p: 20.0                      # Proportional gain for speed PID controller
         pid_i: 0.1                       # Integral gain for speed PID controller
-        pid_d: 0.0                       # Derivative gain for speed PID controller
+        pid_d: 1.0                       # Derivative gain for speed PID controller
 
 #configure the simulator, if using
 simulator: