无人驾驶决策算法代码

无人驾驶决策算法中的PID_ACM算法代码如下：

R8 lat_loss = -v_dis;
I4 end_i = (min_i + param.review_num);
end_i = end_i >= line_size ? line_size - 1 : end_i;
R8 yaw_loss = 0;
R8 dis_loss = 0;
for (I4 i = min_i + 1; i <= end_i; i++) {
  yaw_loss += yaw_sub(refer_line[i].yaw, now_pose.yaw);
  dis_loss += refer_line[i].v * param.dt;
}
R8 angle_loss = param.ag * lat_loss + param.bg * yaw_loss;

D = D = D = dis_loss;
Y = Y = Y = angle_loss;

a = P_lon * (D + D + D - D + Y + Y - Y<span class="em">1</span><span class="em">2</span><span class="em">3</span>
#### 引用[.reference_title]
-  *1* *2* *3* [自己动手写全套无人驾驶算法系列（三）机器人控制](https://blog.csdn.net/qq_38588806/article/details/105877163)[target="_blank" data-report-click={"spm":"1018.2226.3001.9630","extra":{"utm_source":"vip_chatgpt_common_search_pc_result","utm_medium":"distribute.pc_search_result.none-task-cask-2~all~insert_cask~default-1-null.142^v93^chatsearchT3_2"}}] [.reference_item style="max-width: 100%"]
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