Mahindra E2O Driverless Car

The module for lateral and longitudinal control was a very challenging and and time-consuming to develop. Various controllers were tested for the longitudinal velocity control like the normal PID controller and the adaptive PID controller. The tests were done on a simulator before testing them on a car. Various methods were tried for the lateral controls of the car by considering a kinematic model as well as a dynamic model of the vehicle.

The problem of planning can be divided into two parts- a global plan and a local plan. The global plan is a permanent path from the initial point to the end point and it remains constant whereas the local plan is limited to a certain distance and it keeps adapting based on the changing environment. We tested and tuned the Dijkstra based global planner and the Time elastic band local planner. The ROS move-base package was used for achieving the goals set by the planner.