Experimental velocity control based on a simple PID controller. The line plot illustrates the change in distance between the two vehicles in every frame. The following two animations are the simulated experiments.
:param accel: (float) vehicle's current velocity [m/s]
:param max_accel: (float) vehicle's maximum accleration [m/s^2]
:param gap: (float) vehicle's vehicle from the target [m]
:param prev_gap: (float) previous vehicle's distance from the target [m]
:param safety_thresh: (float) maximum allowable distance from the target [m]
:param dt: (float) discrete time period [s]
:return desired_accel: (float) vehicle's desired velocity [m/s]To run the animation, if not just install Numpy.
$ pip install -r requirements.txt
