scenic.domains.driving.controllers
Lowlevel controllers useful for vehicles.
The Lateral/Longitudinal PID controllers are adapted from CARLA’s PID controllers, which are licensed under the following terms:
Copyright (c) 20182020 CVC.
This work is licensed under the terms of the MIT license. For a copy, see <https://opensource.org/licenses/MIT>.
Summary of Module Members
Classes
Lateral control using a PID to track a trajectory. 

Longitudinal control using a PID to reach a target speed. 
Member Details
 class PIDLongitudinalController(K_P=0.5, K_D=0.1, K_I=0.2, dt=0.1)[source]
Longitudinal control using a PID to reach a target speed.
 Parameters:
K_P – Proportional gain
K_D – Derivative gain
K_I – Integral gain
dt – time step