From 57a940e2ea55a67bbbe47f1da4e54a9cae7c6ec2 Mon Sep 17 00:00:00 2001
From: sjiang2018 <shujiang2016@gmail.com>
Date: Wed, 6 Nov 2019 11:31:36 -0800
Subject: [PATCH] control: renamed lqr+pid as lat+lon submodule

---
 modules/control/common/control_gflags.cc      |   18 +-
 modules/control/common/control_gflags.h       |   10 +-
 .../control/conf/lqr_controller_conf.pb.txt   | 6617 -----------------
 .../control/conf/pid_controller_conf.pb.txt   | 6617 -----------------
 modules/control/submodules/BUILD              |   12 +-
 ...ule.cc => lat_lon_controller_submodule.cc} |   65 +-
 ...odule.h => lat_lon_controller_submodule.h} |   16 +-
 7 files changed, 63 insertions(+), 13292 deletions(-)
 delete mode 100644 modules/control/conf/lqr_controller_conf.pb.txt
 delete mode 100644 modules/control/conf/pid_controller_conf.pb.txt
 rename modules/control/submodules/{pid_lqr_controller_submodule.cc => lat_lon_controller_submodule.cc} (59%)
 rename modules/control/submodules/{pid_lqr_controller_submodule.h => lat_lon_controller_submodule.h} (88%)

diff --git a/modules/control/common/control_gflags.cc b/modules/control/common/control_gflags.cc
index 0a07697a572..6b970fe59f5 100644
--- a/modules/control/common/control_gflags.cc
+++ b/modules/control/common/control_gflags.cc
@@ -28,13 +28,14 @@ DEFINE_string(mpc_controller_conf_file,
               "/apollo/modules/control/conf/mpc_controller_conf.pb.txt",
               "mpc controller conf data file");
 
-DEFINE_string(lqr_controller_conf_file,
-              "/apollo/modules/control/conf/lqr_controller_conf.pb.txt",
-              "lqr controller conf data file");
+DEFINE_string(lateral_controller_conf_file,
+              "/apollo/modules/control/conf/lateral_controller_conf.pb.txt",
+              "lateral controller conf data file");
 
-DEFINE_string(pid_controller_conf_file,
-              "/apollo/modules/control/conf/pid_controller_conf.pb.txt",
-              "pid controller conf data file");
+DEFINE_string(
+    longitudinal_controller_conf_file,
+    "/apollo/modules/control/conf/longitudinal_controller_conf_file.pb.txt",
+    "longitudinal controller conf data file");
 
 DEFINE_bool(enable_csv_debug, false, "True to write out csv debug file.");
 DEFINE_bool(enable_speed_station_preview, true, "enable speed/station preview");
@@ -44,8 +45,9 @@ DEFINE_string(control_node_name, "control", "The control node name in proto");
 DEFINE_string(mpc_controller_submodule_name, "MPC controller",
               "MPC controller node name in proto");
 
-DEFINE_string(pid_lqr_controller_submodule_name, "PID+LQR controller",
-              "PID+LQR controller node name in proto");
+DEFINE_string(lat_lon_controller_submodule_name,
+              "lateral+longitudinal controller",
+              "lateral+longitudinal controller node name in proto");
 
 DEFINE_string(preprocessor_submodule_name, "preprocessor submodule",
               "preprocessor submodule name in proto");
diff --git a/modules/control/common/control_gflags.h b/modules/control/common/control_gflags.h
index 482652b9c70..b4c26cb5015 100644
--- a/modules/control/common/control_gflags.h
+++ b/modules/control/common/control_gflags.h
@@ -24,10 +24,10 @@ DECLARE_string(control_conf_file);
 DECLARE_string(control_common_conf_file);
 // mpc controller conf file
 DECLARE_string(mpc_controller_conf_file);
-// LQR controller conf file
-DECLARE_string(lqr_controller_conf_file);
-// PID controller conf file
-DECLARE_string(pid_controller_conf_file);
+// lateral controller conf file
+DECLARE_string(lateral_controller_conf_file);
+// longitudinal controller conf file
+DECLARE_string(longitudinal_controller_conf_file);
 
 DECLARE_double(control_test_duration);
 
@@ -41,7 +41,7 @@ DECLARE_string(control_node_name);
 DECLARE_string(preprocessor_submodule_name);
 DECLARE_string(mpc_controller_submodule_name);
 DECLARE_string(postprocessor_submodule_name);
-DECLARE_string(pid_lqr_controller_submodule_name);
+DECLARE_string(lat_lon_controller_submodule_name);
 
 DECLARE_bool(is_control_test_mode);
 DECLARE_bool(use_preview_speed_for_table);
diff --git a/modules/control/conf/lqr_controller_conf.pb.txt b/modules/control/conf/lqr_controller_conf.pb.txt
deleted file mode 100644
index a45436d0de6..00000000000
--- a/modules/control/conf/lqr_controller_conf.pb.txt
+++ /dev/null
@@ -1,6617 +0,0 @@
-mpc_controller_conf {
-  ts: 0.01
-  cf: 155494.663
-  cr: 155494.663
-  mass_fl: 520
-  mass_fr: 520
-  mass_rl: 520
-  mass_rr: 520
-  eps: 0.01
-  matrix_q: 3.0
-  matrix_q: 0.0
-  matrix_q: 35
-  matrix_q: 0.0
-  matrix_q: 50.0
-  matrix_q: 10.0
-  matrix_r: 3.25
-  matrix_r: 1.0
-  cutoff_freq: 10
-  mean_filter_window_size: 10
-  max_iteration: 150
-  max_lateral_acceleration: 5.0
-  standstill_acceleration: -0.3
-  brake_minimum_action: 0.0
-  throttle_minimum_action: 0.0
-  enable_mpc_feedforward_compensation: false
-  lat_err_gain_scheduler {
-    scheduler {
-      speed: 2.5
-      ratio: 1.0
-    }
-    scheduler {
-      speed: 5.0
-      ratio: 1.0
-    }
-    scheduler {
-      speed: 10.0
-      ratio: 0.4
-    }
-    scheduler {
-      speed: 15.0
-      ratio: 0.3
-    }
-    scheduler {
-      speed: 20.0
-      ratio: 0.2
-    }
-    scheduler {
-      speed: 25.0
-      ratio: 0.1
-    }
-  }
-  heading_err_gain_scheduler {
-    scheduler {
-      speed: 2.5
-      ratio: 1.0
-    }
-    scheduler {
-      speed: 5.0
-      ratio: 1.0
-    }
-    scheduler {
-      speed: 10.0
-      ratio: 0.5
-    }
-    scheduler {
-      speed: 15.0
-      ratio: 0.4
-    }
-    scheduler {
-      speed: 20.0
-      ratio: 0.35
-    }
-    scheduler {
-      speed: 25.0
-      ratio: 0.35
-    }
-  }
-  feedforwardterm_gain_scheduler {
-    scheduler {
-      speed: 2.5
-      ratio: 0.7
-    }
-    scheduler {
-      speed: 5.0
-      ratio: 0.05
-    }
-    scheduler {
-      speed: 10.0
-      ratio: 0.0
-    }
-    scheduler {
-      speed: 15.0
-      ratio: 0.0
-    }
-    scheduler {
-      speed: 20.0
-      ratio: 0.0
-    }
-    scheduler {
-      speed: 25.0
-      ratio: 0.0
-    }
-  }
-  steer_weight_gain_scheduler {
-    scheduler {
-      speed: 2.5
-      ratio: 1.0
-    }
-    scheduler {
-      speed: 5.0
-      ratio: 1.0
-    }
-    scheduler {
-      speed: 10.0
-      ratio: 1.1
-    }
-    scheduler {
-      speed: 15.0
-      ratio: 1.1
-    }
-    scheduler {
-      speed: 20.0
-      ratio: 1.35
-    }
-    scheduler {
-      speed: 25.0
-      ratio: 1.55
-    }
-  }
-  calibration_table {
-    calibration {
-      speed: 0.0
-      acceleration: -1.43
-      command: -35.0
-    }
-    calibration {
-      speed: 0.0
-      acceleration: -1.28
-      command: -27.0
-    }
-    calibration {
-      speed: 0.0
-      acceleration: -1.17
-      command: -25.0
-    }
-    calibration {
-      speed: 0.0
-      acceleration: -1.02
-      command: -30.0
-    }
-    calibration {
-      speed: 0.0
-      acceleration: -0.48
-      command: -27.5
-    }
-    calibration {
-      speed: 0.0
-      acceleration: 0.09
-      command: -20.0
-    }
-    calibration {
-      speed: 0.0
-      acceleration: 0.32
-      command: -15.0
-    }
-    calibration {
-      speed: 0.0
-      acceleration: 0.35
-      command: -17.0
-    }
-    calibration {
-      speed: 0.0
-      acceleration: 0.37
-      command: 17.0
-    }
-    calibration {
-      speed: 0.0
-      acceleration: 0.39
-      command: 15.0
-    }
-    calibration {
-      speed: 0.0
-      acceleration: 0.41
-      command: -13.0
-    }
-    calibration {
-      speed: 0.0
-      acceleration: 0.72
-      command: 20.0
-    }
-    calibration {
-      speed: 0.0
-      acceleration: 0.97
-      command: 22.0
-    }
-    calibration {
-      speed: 0.0
-      acceleration: 1.4
-      command: 25.0
-    }
-    calibration {
-      speed: 0.0
-      acceleration: 1.43
-      command: 27.0
-    }
-    calibration {
-      speed: 0.0
-      acceleration: 1.53
-      command: 30.0
-    }
-    calibration {
-      speed: 0.0
-      acceleration: 1.65
-      command: 35.0
-    }
-    calibration {
-      speed: 0.0
-      acceleration: 1.79
-      command: 40.0
-    }
-    calibration {
-      speed: 0.0
-      acceleration: 1.89
-      command: 45.0
-    }
-    calibration {
-      speed: 0.0
-      acceleration: 1.94
-      command: 50.0
-    }
-    calibration {
-      speed: 0.0
-      acceleration: 2.03
-      command: 55.0
-    }
-    calibration {
-      speed: 0.0
-      acceleration: 2.08
-      command: 65.0
-    }
-    calibration {
-      speed: 0.0
-      acceleration: 2.11
-      command: 60.0
-    }
-    calibration {
-      speed: 0.0
-      acceleration: 2.3
-      command: 80.0
-    }
-    calibration {
-      speed: 0.0
-      acceleration: 2.33
-      command: 70.0
-    }
-    calibration {
-      speed: 0.0
-      acceleration: 2.34
-      command: 75.0
-    }
-    calibration {
-      speed: 0.2
-      acceleration: -1.87
-      command: -35.0
-    }
-    calibration {
-      speed: 0.2
-      acceleration: -1.41
-      command: -27.0
-    }
-    calibration {
-      speed: 0.2
-      acceleration: -1.25
-      command: -30.0
-    }
-    calibration {
-      speed: 0.2
-      acceleration: -1.22
-      command: -25.0
-    }
-    calibration {
-      speed: 0.2
-      acceleration: -0.87
-      command: -33.0
-    }
-    calibration {
-      speed: 0.2
-      acceleration: -0.48
-      command: -22.0
-    }
-    calibration {
-      speed: 0.2
-      acceleration: 0.09
-      command: -20.0
-    }
-    calibration {
-      speed: 0.2
-      acceleration: 0.32
-      command: -15.0
-    }
-    calibration {
-      speed: 0.2
-      acceleration: 0.36
-      command: -17.0
-    }
-    calibration {
-      speed: 0.2
-      acceleration: 0.38
-      command: 17.0
-    }
-    calibration {
-      speed: 0.2
-      acceleration: 0.39
-      command: 15.0
-    }
-    calibration {
-      speed: 0.2
-      acceleration: 0.41
-      command: -13.0
-    }
-    calibration {
-      speed: 0.2
-      acceleration: 0.74
-      command: 20.0
-    }
-    calibration {
-      speed: 0.2
-      acceleration: 0.98
-      command: 22.0
-    }
-    calibration {
-      speed: 0.2
-      acceleration: 1.43
-      command: 25.0
-    }
-    calibration {
-      speed: 0.2
-      acceleration: 1.48
-      command: 27.0
-    }
-    calibration {
-      speed: 0.2
-      acceleration: 1.59
-      command: 30.0
-    }
-    calibration {
-      speed: 0.2
-      acceleration: 1.72
-      command: 35.0
-    }
-    calibration {
-      speed: 0.2
-      acceleration: 1.87
-      command: 40.0
-    }
-    calibration {
-      speed: 0.2
-      acceleration: 1.98
-      command: 45.0
-    }
-    calibration {
-      speed: 0.2
-      acceleration: 2.03
-      command: 50.0
-    }
-    calibration {
-      speed: 0.2
-      acceleration: 2.15
-      command: 55.0
-    }
-    calibration {
-      speed: 0.2
-      acceleration: 2.22
-      command: 65.0
-    }
-    calibration {
-      speed: 0.2
-      acceleration: 2.23
-      command: 60.0
-    }
-    calibration {
-      speed: 0.2
-      acceleration: 2.44
-      command: 80.0
-    }
-    calibration {
-      speed: 0.2
-      acceleration: 2.45
-      command: 70.0
-    }
-    calibration {
-      speed: 0.2
-      acceleration: 2.47
-      command: 75.0
-    }
-    calibration {
-      speed: 0.4
-      acceleration: -6.89
-      command: -35.0
-    }
-    calibration {
-      speed: 0.4
-      acceleration: -5.78
-      command: -33.0
-    }
-    calibration {
-      speed: 0.4
-      acceleration: -4.19
-      command: -30.0
-    }
-    calibration {
-      speed: 0.4
-      acceleration: -2.88
-      command: -27.0
-    }
-    calibration {
-      speed: 0.4
-      acceleration: -1.77
-      command: -25.0
-    }
-    calibration {
-      speed: 0.4
-      acceleration: -0.48
-      command: -22.0
-    }
-    calibration {
-      speed: 0.4
-      acceleration: 0.01
-      command: -20.0
-    }
-    calibration {
-      speed: 0.4
-      acceleration: 0.31
-      command: -15.0
-    }
-    calibration {
-      speed: 0.4
-      acceleration: 0.35
-      command: 15.0
-    }
-    calibration {
-      speed: 0.4
-      acceleration: 0.38
-      command: -17.0
-    }
-    calibration {
-      speed: 0.4
-      acceleration: 0.4
-      command: -13.0
-    }
-    calibration {
-      speed: 0.4
-      acceleration: 0.43
-      command: 17.0
-    }
-    calibration {
-      speed: 0.4
-      acceleration: 0.82
-      command: 20.0
-    }
-    calibration {
-      speed: 0.4
-      acceleration: 1.07
-      command: 22.0
-    }
-    calibration {
-      speed: 0.4
-      acceleration: 1.57
-      command: 25.0
-    }
-    calibration {
-      speed: 0.4
-      acceleration: 1.66
-      command: 27.0
-    }
-    calibration {
-      speed: 0.4
-      acceleration: 1.78
-      command: 30.0
-    }
-    calibration {
-      speed: 0.4
-      acceleration: 1.94
-      command: 35.0
-    }
-    calibration {
-      speed: 0.4
-      acceleration: 2.12
-      command: 40.0
-    }
-    calibration {
-      speed: 0.4
-      acceleration: 2.22
-      command: 45.0
-    }
-    calibration {
-      speed: 0.4
-      acceleration: 2.24
-      command: 50.0
-    }
-    calibration {
-      speed: 0.4
-      acceleration: 2.43
-      command: 55.0
-    }
-    calibration {
-      speed: 0.4
-      acceleration: 2.47
-      command: 60.0
-    }
-    calibration {
-      speed: 0.4
-      acceleration: 2.54
-      command: 65.0
-    }
-    calibration {
-      speed: 0.4
-      acceleration: 2.67
-      command: 75.0
-    }
-    calibration {
-      speed: 0.4
-      acceleration: 2.68
-      command: 70.0
-    }
-    calibration {
-      speed: 0.4
-      acceleration: 2.71
-      command: 80.0
-    }
-    calibration {
-      speed: 0.6
-      acceleration: -8.63
-      command: -35.0
-    }
-    calibration {
-      speed: 0.6
-      acceleration: -7.54
-      command: -33.0
-    }
-    calibration {
-      speed: 0.6
-      acceleration: -5.04
-      command: -30.0
-    }
-    calibration {
-      speed: 0.6
-      acceleration: -2.98
-      command: -27.0
-    }
-    calibration {
-      speed: 0.6
-      acceleration: -1.66
-      command: -25.0
-    }
-    calibration {
-      speed: 0.6
-      acceleration: -0.5
-      command: -22.0
-    }
-    calibration {
-      speed: 0.6
-      acceleration: 0.02
-      command: -20.0
-    }
-    calibration {
-      speed: 0.6
-      acceleration: 0.31
-      command: -15.0
-    }
-    calibration {
-      speed: 0.6
-      acceleration: 0.35
-      command: -13.0
-    }
-    calibration {
-      speed: 0.6
-      acceleration: 0.36
-      command: 15.0
-    }
-    calibration {
-      speed: 0.6
-      acceleration: 0.38
-      command: -17.0
-    }
-    calibration {
-      speed: 0.6
-      acceleration: 0.43
-      command: 17.0
-    }
-    calibration {
-      speed: 0.6
-      acceleration: 0.85
-      command: 20.0
-    }
-    calibration {
-      speed: 0.6
-      acceleration: 1.18
-      command: 22.0
-    }
-    calibration {
-      speed: 0.6
-      acceleration: 1.71
-      command: 25.0
-    }
-    calibration {
-      speed: 0.6
-      acceleration: 1.85
-      command: 27.0
-    }
-    calibration {
-      speed: 0.6
-      acceleration: 1.96
-      command: 30.0
-    }
-    calibration {
-      speed: 0.6
-      acceleration: 2.16
-      command: 35.0
-    }
-    calibration {
-      speed: 0.6
-      acceleration: 2.34
-      command: 40.0
-    }
-    calibration {
-      speed: 0.6
-      acceleration: 2.37
-      command: 50.0
-    }
-    calibration {
-      speed: 0.6
-      acceleration: 2.4
-      command: 45.0
-    }
-    calibration {
-      speed: 0.6
-      acceleration: 2.57
-      command: 60.0
-    }
-    calibration {
-      speed: 0.6
-      acceleration: 2.61
-      command: 55.0
-    }
-    calibration {
-      speed: 0.6
-      acceleration: 2.72
-      command: 65.0
-    }
-    calibration {
-      speed: 0.6
-      acceleration: 2.77
-      command: 72.5
-    }
-    calibration {
-      speed: 0.6
-      acceleration: 2.8
-      command: 80.0
-    }
-    calibration {
-      speed: 0.8
-      acceleration: -9.18
-      command: -35.0
-    }
-    calibration {
-      speed: 0.8
-      acceleration: -8.26
-      command: -33.0
-    }
-    calibration {
-      speed: 0.8
-      acceleration: -5.13
-      command: -30.0
-    }
-    calibration {
-      speed: 0.8
-      acceleration: -2.78
-      command: -27.0
-    }
-    calibration {
-      speed: 0.8
-      acceleration: -1.71
-      command: -25.0
-    }
-    calibration {
-      speed: 0.8
-      acceleration: -0.48
-      command: -22.0
-    }
-    calibration {
-      speed: 0.8
-      acceleration: 0.01
-      command: -20.0
-    }
-    calibration {
-      speed: 0.8
-      acceleration: 0.29
-      command: -15.0
-    }
-    calibration {
-      speed: 0.8
-      acceleration: 0.31
-      command: 1.0
-    }
-    calibration {
-      speed: 0.8
-      acceleration: 0.35
-      command: -17.0
-    }
-    calibration {
-      speed: 0.8
-      acceleration: 0.37
-      command: 17.0
-    }
-    calibration {
-      speed: 0.8
-      acceleration: 0.87
-      command: 20.0
-    }
-    calibration {
-      speed: 0.8
-      acceleration: 1.23
-      command: 22.0
-    }
-    calibration {
-      speed: 0.8
-      acceleration: 1.82
-      command: 25.0
-    }
-    calibration {
-      speed: 0.8
-      acceleration: 1.99
-      command: 27.0
-    }
-    calibration {
-      speed: 0.8
-      acceleration: 2.1
-      command: 30.0
-    }
-    calibration {
-      speed: 0.8
-      acceleration: 2.34
-      command: 35.0
-    }
-    calibration {
-      speed: 0.8
-      acceleration: 2.46
-      command: 50.0
-    }
-    calibration {
-      speed: 0.8
-      acceleration: 2.52
-      command: 42.5
-    }
-    calibration {
-      speed: 0.8
-      acceleration: 2.61
-      command: 60.0
-    }
-    calibration {
-      speed: 0.8
-      acceleration: 2.7
-      command: 55.0
-    }
-    calibration {
-      speed: 0.8
-      acceleration: 2.73
-      command: 70.0
-    }
-    calibration {
-      speed: 0.8
-      acceleration: 2.74
-      command: 75.0
-    }
-    calibration {
-      speed: 0.8
-      acceleration: 2.76
-      command: 65.0
-    }
-    calibration {
-      speed: 0.8
-      acceleration: 2.78
-      command: 80.0
-    }
-    calibration {
-      speed: 1.0
-      acceleration: -9.17
-      command: -35.0
-    }
-    calibration {
-      speed: 1.0
-      acceleration: -8.44
-      command: -33.0
-    }
-    calibration {
-      speed: 1.0
-      acceleration: -4.97
-      command: -30.0
-    }
-    calibration {
-      speed: 1.0
-      acceleration: -2.72
-      command: -27.0
-    }
-    calibration {
-      speed: 1.0
-      acceleration: -1.74
-      command: -25.0
-    }
-    calibration {
-      speed: 1.0
-      acceleration: -0.5
-      command: -22.0
-    }
-    calibration {
-      speed: 1.0
-      acceleration: -0.07
-      command: -20.0
-    }
-    calibration {
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-      speed: 9.0
-      acceleration: -7.6
-      command: -33.0
-    }
-    calibration {
-      speed: 9.0
-      acceleration: -4.71
-      command: -30.0
-    }
-    calibration {
-      speed: 9.0
-      acceleration: -2.57
-      command: -27.0
-    }
-    calibration {
-      speed: 9.0
-      acceleration: -1.8
-      command: -25.0
-    }
-    calibration {
-      speed: 9.0
-      acceleration: -0.74
-      command: -22.0
-    }
-    calibration {
-      speed: 9.0
-      acceleration: -0.41
-      command: -20.0
-    }
-    calibration {
-      speed: 9.0
-      acceleration: -0.29
-      command: -15.0
-    }
-    calibration {
-      speed: 9.0
-      acceleration: -0.27
-      command: -13.0
-    }
-    calibration {
-      speed: 9.0
-      acceleration: -0.24
-      command: 15.0
-    }
-    calibration {
-      speed: 9.0
-      acceleration: -0.2
-      command: 17.0
-    }
-    calibration {
-      speed: 9.0
-      acceleration: -0.19
-      command: -17.0
-    }
-    calibration {
-      speed: 9.0
-      acceleration: -0.15
-      command: 20.0
-    }
-    calibration {
-      speed: 9.0
-      acceleration: 0.12
-      command: 22.0
-    }
-    calibration {
-      speed: 9.0
-      acceleration: 0.38
-      command: 25.0
-    }
-    calibration {
-      speed: 9.0
-      acceleration: 0.57
-      command: 27.0
-    }
-    calibration {
-      speed: 9.0
-      acceleration: 0.88
-      command: 30.0
-    }
-    calibration {
-      speed: 9.0
-      acceleration: 1.47
-      command: 35.0
-    }
-    calibration {
-      speed: 9.0
-      acceleration: 1.91
-      command: 40.0
-    }
-    calibration {
-      speed: 9.0
-      acceleration: 2.07
-      command: 45.0
-    }
-    calibration {
-      speed: 9.0
-      acceleration: 2.33
-      command: 50.0
-    }
-    calibration {
-      speed: 9.0
-      acceleration: 2.71
-      command: 55.0
-    }
-    calibration {
-      speed: 9.0
-      acceleration: 3.03
-      command: 60.0
-    }
-    calibration {
-      speed: 9.0
-      acceleration: 3.09
-      command: 80.0
-    }
-    calibration {
-      speed: 9.0
-      acceleration: 3.16
-      command: 70.0
-    }
-    calibration {
-      speed: 9.0
-      acceleration: 3.21
-      command: 70.0
-    }
-    calibration {
-      speed: 9.2
-      acceleration: -9.34
-      command: -35.0
-    }
-    calibration {
-      speed: 9.2
-      acceleration: -7.67
-      command: -33.0
-    }
-    calibration {
-      speed: 9.2
-      acceleration: -4.69
-      command: -30.0
-    }
-    calibration {
-      speed: 9.2
-      acceleration: -2.61
-      command: -27.0
-    }
-    calibration {
-      speed: 9.2
-      acceleration: -1.85
-      command: -25.0
-    }
-    calibration {
-      speed: 9.2
-      acceleration: -0.71
-      command: -22.0
-    }
-    calibration {
-      speed: 9.2
-      acceleration: -0.39
-      command: -20.0
-    }
-    calibration {
-      speed: 9.2
-      acceleration: -0.28
-      command: -15.0
-    }
-    calibration {
-      speed: 9.2
-      acceleration: -0.27
-      command: 15.0
-    }
-    calibration {
-      speed: 9.2
-      acceleration: -0.26
-      command: -17.0
-    }
-    calibration {
-      speed: 9.2
-      acceleration: -0.21
-      command: -13.0
-    }
-    calibration {
-      speed: 9.2
-      acceleration: -0.17
-      command: 17.0
-    }
-    calibration {
-      speed: 9.2
-      acceleration: -0.08
-      command: 20.0
-    }
-    calibration {
-      speed: 9.2
-      acceleration: 0.1
-      command: 22.0
-    }
-    calibration {
-      speed: 9.2
-      acceleration: 0.34
-      command: 25.0
-    }
-    calibration {
-      speed: 9.2
-      acceleration: 0.56
-      command: 27.0
-    }
-    calibration {
-      speed: 9.2
-      acceleration: 0.87
-      command: 30.0
-    }
-    calibration {
-      speed: 9.2
-      acceleration: 1.44
-      command: 35.0
-    }
-    calibration {
-      speed: 9.2
-      acceleration: 1.86
-      command: 40.0
-    }
-    calibration {
-      speed: 9.2
-      acceleration: 2.05
-      command: 45.0
-    }
-    calibration {
-      speed: 9.2
-      acceleration: 2.3
-      command: 50.0
-    }
-    calibration {
-      speed: 9.2
-      acceleration: 2.65
-      command: 55.0
-    }
-    calibration {
-      speed: 9.2
-      acceleration: 3.02
-      command: 60.0
-    }
-    calibration {
-      speed: 9.2
-      acceleration: 3.05
-      command: 80.0
-    }
-    calibration {
-      speed: 9.2
-      acceleration: 3.17
-      command: 75.0
-    }
-    calibration {
-      speed: 9.2
-      acceleration: 3.18
-      command: 70.0
-    }
-    calibration {
-      speed: 9.2
-      acceleration: 3.2
-      command: 65.0
-    }
-    calibration {
-      speed: 9.4
-      acceleration: -9.37
-      command: -35.0
-    }
-    calibration {
-      speed: 9.4
-      acceleration: -7.76
-      command: -33.0
-    }
-    calibration {
-      speed: 9.4
-      acceleration: -4.65
-      command: -30.0
-    }
-    calibration {
-      speed: 9.4
-      acceleration: -2.66
-      command: -27.0
-    }
-    calibration {
-      speed: 9.4
-      acceleration: -1.87
-      command: -25.0
-    }
-    calibration {
-      speed: 9.4
-      acceleration: -0.73
-      command: -22.0
-    }
-    calibration {
-      speed: 9.4
-      acceleration: -0.37
-      command: -20.0
-    }
-    calibration {
-      speed: 9.4
-      acceleration: -0.31
-      command: 15.0
-    }
-    calibration {
-      speed: 9.4
-      acceleration: -0.26
-      command: -15.0
-    }
-    calibration {
-      speed: 9.4
-      acceleration: -0.24
-      command: -15.0
-    }
-    calibration {
-      speed: 9.4
-      acceleration: -0.16
-      command: 17.0
-    }
-    calibration {
-      speed: 9.4
-      acceleration: -0.1
-      command: 20.0
-    }
-    calibration {
-      speed: 9.4
-      acceleration: 0.1
-      command: 22.0
-    }
-    calibration {
-      speed: 9.4
-      acceleration: 0.38
-      command: 25.0
-    }
-    calibration {
-      speed: 9.4
-      acceleration: 0.53
-      command: 27.0
-    }
-    calibration {
-      speed: 9.4
-      acceleration: 0.8
-      command: 30.0
-    }
-    calibration {
-      speed: 9.4
-      acceleration: 1.38
-      command: 35.0
-    }
-    calibration {
-      speed: 9.4
-      acceleration: 1.82
-      command: 40.0
-    }
-    calibration {
-      speed: 9.4
-      acceleration: 2.04
-      command: 45.0
-    }
-    calibration {
-      speed: 9.4
-      acceleration: 2.28
-      command: 50.0
-    }
-    calibration {
-      speed: 9.4
-      acceleration: 2.6
-      command: 55.0
-    }
-    calibration {
-      speed: 9.4
-      acceleration: 2.99
-      command: 60.0
-    }
-    calibration {
-      speed: 9.4
-      acceleration: 3.02
-      command: 80.0
-    }
-    calibration {
-      speed: 9.4
-      acceleration: 3.15
-      command: 75.0
-    }
-    calibration {
-      speed: 9.4
-      acceleration: 3.19
-      command: 70.0
-    }
-    calibration {
-      speed: 9.4
-      acceleration: 3.2
-      command: 65.0
-    }
-    calibration {
-      speed: 9.6
-      acceleration: -9.36
-      command: -35.0
-    }
-    calibration {
-      speed: 9.6
-      acceleration: -7.87
-      command: -33.0
-    }
-    calibration {
-      speed: 9.6
-      acceleration: -4.56
-      command: -30.0
-    }
-    calibration {
-      speed: 9.6
-      acceleration: -2.68
-      command: -27.0
-    }
-    calibration {
-      speed: 9.6
-      acceleration: -1.88
-      command: -25.0
-    }
-    calibration {
-      speed: 9.6
-      acceleration: -0.73
-      command: -22.0
-    }
-    calibration {
-      speed: 9.6
-      acceleration: -0.38
-      command: -20.0
-    }
-    calibration {
-      speed: 9.6
-      acceleration: -0.29
-      command: 15.0
-    }
-    calibration {
-      speed: 9.6
-      acceleration: -0.28
-      command: -15.0
-    }
-    calibration {
-      speed: 9.6
-      acceleration: -0.27
-      command: -13.0
-    }
-    calibration {
-      speed: 9.6
-      acceleration: -0.26
-      command: -17.0
-    }
-    calibration {
-      speed: 9.6
-      acceleration: -0.2
-      command: 17.0
-    }
-    calibration {
-      speed: 9.6
-      acceleration: -0.07
-      command: 20.0
-    }
-    calibration {
-      speed: 9.6
-      acceleration: 0.09
-      command: 22.0
-    }
-    calibration {
-      speed: 9.6
-      acceleration: 0.34
-      command: 25.0
-    }
-    calibration {
-      speed: 9.6
-      acceleration: 0.53
-      command: 27.0
-    }
-    calibration {
-      speed: 9.6
-      acceleration: 0.8
-      command: 30.0
-    }
-    calibration {
-      speed: 9.6
-      acceleration: 1.36
-      command: 35.0
-    }
-    calibration {
-      speed: 9.6
-      acceleration: 1.79
-      command: 40.0
-    }
-    calibration {
-      speed: 9.6
-      acceleration: 2.01
-      command: 45.0
-    }
-    calibration {
-      speed: 9.6
-      acceleration: 2.25
-      command: 50.0
-    }
-    calibration {
-      speed: 9.6
-      acceleration: 2.57
-      command: 55.0
-    }
-    calibration {
-      speed: 9.6
-      acceleration: 2.98
-      command: 60.0
-    }
-    calibration {
-      speed: 9.6
-      acceleration: 2.99
-      command: 80.0
-    }
-    calibration {
-      speed: 9.6
-      acceleration: 3.15
-      command: 75.0
-    }
-    calibration {
-      speed: 9.6
-      acceleration: 3.2
-      command: 70.0
-    }
-    calibration {
-      speed: 9.6
-      acceleration: 3.21
-      command: 65.0
-    }
-    calibration {
-      speed: 9.8
-      acceleration: -9.31
-      command: -35.0
-    }
-    calibration {
-      speed: 9.8
-      acceleration: -7.97
-      command: -33.0
-    }
-    calibration {
-      speed: 9.8
-      acceleration: -4.51
-      command: -30.0
-    }
-    calibration {
-      speed: 9.8
-      acceleration: -2.67
-      command: -27.0
-    }
-    calibration {
-      speed: 9.8
-      acceleration: -1.9
-      command: -25.0
-    }
-    calibration {
-      speed: 9.8
-      acceleration: -0.73
-      command: -22.0
-    }
-    calibration {
-      speed: 9.8
-      acceleration: -0.39
-      command: -20.0
-    }
-    calibration {
-      speed: 9.8
-      acceleration: -0.28
-      command: -14.0
-    }
-    calibration {
-      speed: 9.8
-      acceleration: -0.27
-      command: -17.0
-    }
-    calibration {
-      speed: 9.8
-      acceleration: -0.24
-      command: 15.0
-    }
-    calibration {
-      speed: 9.8
-      acceleration: -0.22
-      command: 17.0
-    }
-    calibration {
-      speed: 9.8
-      acceleration: -0.13
-      command: 20.0
-    }
-    calibration {
-      speed: 9.8
-      acceleration: 0.08
-      command: 22.0
-    }
-    calibration {
-      speed: 9.8
-      acceleration: 0.34
-      command: 25.0
-    }
-    calibration {
-      speed: 9.8
-      acceleration: 0.5
-      command: 27.0
-    }
-    calibration {
-      speed: 9.8
-      acceleration: 0.78
-      command: 30.0
-    }
-    calibration {
-      speed: 9.8
-      acceleration: 1.35
-      command: 35.0
-    }
-    calibration {
-      speed: 9.8
-      acceleration: 1.76
-      command: 40.0
-    }
-    calibration {
-      speed: 9.8
-      acceleration: 1.97
-      command: 45.0
-    }
-    calibration {
-      speed: 9.8
-      acceleration: 2.21
-      command: 50.0
-    }
-    calibration {
-      speed: 9.8
-      acceleration: 2.55
-      command: 55.0
-    }
-    calibration {
-      speed: 9.8
-      acceleration: 2.96
-      command: 60.0
-    }
-    calibration {
-      speed: 9.8
-      acceleration: 2.98
-      command: 80.0
-    }
-    calibration {
-      speed: 9.8
-      acceleration: 3.15
-      command: 75.0
-    }
-    calibration {
-      speed: 9.8
-      acceleration: 3.2
-      command: 70.0
-    }
-    calibration {
-      speed: 9.8
-      acceleration: 3.21
-      command: 65.0
-    }
-    calibration {
-      speed: 10.0
-      acceleration: -9.18
-      command: -35.0
-    }
-    calibration {
-      speed: 10.0
-      acceleration: -8.04
-      command: -33.0
-    }
-    calibration {
-      speed: 10.0
-      acceleration: -4.75
-      command: -30.0
-    }
-    calibration {
-      speed: 10.0
-      acceleration: -2.65
-      command: -27.0
-    }
-    calibration {
-      speed: 10.0
-      acceleration: -1.92
-      command: -25.0
-    }
-    calibration {
-      speed: 10.0
-      acceleration: -0.75
-      command: -22.0
-    }
-    calibration {
-      speed: 10.0
-      acceleration: -0.36
-      command: -20.0
-    }
-    calibration {
-      speed: 10.0
-      acceleration: -0.29
-      command: -13.0
-    }
-    calibration {
-      speed: 10.0
-      acceleration: -0.27
-      command: -15.0
-    }
-    calibration {
-      speed: 10.0
-      acceleration: -0.25
-      command: 15.0
-    }
-    calibration {
-      speed: 10.0
-      acceleration: -0.24
-      command: -17.0
-    }
-    calibration {
-      speed: 10.0
-      acceleration: -0.21
-      command: 17.0
-    }
-    calibration {
-      speed: 10.0
-      acceleration: -0.08
-      command: 20.0
-    }
-    calibration {
-      speed: 10.0
-      acceleration: 0.08
-      command: 22.0
-    }
-    calibration {
-      speed: 10.0
-      acceleration: 0.32
-      command: 25.0
-    }
-    calibration {
-      speed: 10.0
-      acceleration: 0.49
-      command: 27.0
-    }
-    calibration {
-      speed: 10.0
-      acceleration: 0.75
-      command: 30.0
-    }
-    calibration {
-      speed: 10.0
-      acceleration: 1.3
-      command: 35.0
-    }
-    calibration {
-      speed: 10.0
-      acceleration: 1.71
-      command: 40.0
-    }
-    calibration {
-      speed: 10.0
-      acceleration: 1.92
-      command: 45.0
-    }
-    calibration {
-      speed: 10.0
-      acceleration: 2.17
-      command: 50.0
-    }
-    calibration {
-      speed: 10.0
-      acceleration: 2.53
-      command: 55.0
-    }
-    calibration {
-      speed: 10.0
-      acceleration: 2.94
-      command: 60.0
-    }
-    calibration {
-      speed: 10.0
-      acceleration: 2.99
-      command: 80.0
-    }
-    calibration {
-      speed: 10.0
-      acceleration: 3.14
-      command: 75.0
-    }
-    calibration {
-      speed: 10.0
-      acceleration: 3.19
-      command: 70.0
-    }
-    calibration {
-      speed: 10.0
-      acceleration: 3.21
-      command: 65.0
-    }
-  }
-}
\ No newline at end of file
diff --git a/modules/control/conf/pid_controller_conf.pb.txt b/modules/control/conf/pid_controller_conf.pb.txt
deleted file mode 100644
index a45436d0de6..00000000000
--- a/modules/control/conf/pid_controller_conf.pb.txt
+++ /dev/null
@@ -1,6617 +0,0 @@
-mpc_controller_conf {
-  ts: 0.01
-  cf: 155494.663
-  cr: 155494.663
-  mass_fl: 520
-  mass_fr: 520
-  mass_rl: 520
-  mass_rr: 520
-  eps: 0.01
-  matrix_q: 3.0
-  matrix_q: 0.0
-  matrix_q: 35
-  matrix_q: 0.0
-  matrix_q: 50.0
-  matrix_q: 10.0
-  matrix_r: 3.25
-  matrix_r: 1.0
-  cutoff_freq: 10
-  mean_filter_window_size: 10
-  max_iteration: 150
-  max_lateral_acceleration: 5.0
-  standstill_acceleration: -0.3
-  brake_minimum_action: 0.0
-  throttle_minimum_action: 0.0
-  enable_mpc_feedforward_compensation: false
-  lat_err_gain_scheduler {
-    scheduler {
-      speed: 2.5
-      ratio: 1.0
-    }
-    scheduler {
-      speed: 5.0
-      ratio: 1.0
-    }
-    scheduler {
-      speed: 10.0
-      ratio: 0.4
-    }
-    scheduler {
-      speed: 15.0
-      ratio: 0.3
-    }
-    scheduler {
-      speed: 20.0
-      ratio: 0.2
-    }
-    scheduler {
-      speed: 25.0
-      ratio: 0.1
-    }
-  }
-  heading_err_gain_scheduler {
-    scheduler {
-      speed: 2.5
-      ratio: 1.0
-    }
-    scheduler {
-      speed: 5.0
-      ratio: 1.0
-    }
-    scheduler {
-      speed: 10.0
-      ratio: 0.5
-    }
-    scheduler {
-      speed: 15.0
-      ratio: 0.4
-    }
-    scheduler {
-      speed: 20.0
-      ratio: 0.35
-    }
-    scheduler {
-      speed: 25.0
-      ratio: 0.35
-    }
-  }
-  feedforwardterm_gain_scheduler {
-    scheduler {
-      speed: 2.5
-      ratio: 0.7
-    }
-    scheduler {
-      speed: 5.0
-      ratio: 0.05
-    }
-    scheduler {
-      speed: 10.0
-      ratio: 0.0
-    }
-    scheduler {
-      speed: 15.0
-      ratio: 0.0
-    }
-    scheduler {
-      speed: 20.0
-      ratio: 0.0
-    }
-    scheduler {
-      speed: 25.0
-      ratio: 0.0
-    }
-  }
-  steer_weight_gain_scheduler {
-    scheduler {
-      speed: 2.5
-      ratio: 1.0
-    }
-    scheduler {
-      speed: 5.0
-      ratio: 1.0
-    }
-    scheduler {
-      speed: 10.0
-      ratio: 1.1
-    }
-    scheduler {
-      speed: 15.0
-      ratio: 1.1
-    }
-    scheduler {
-      speed: 20.0
-      ratio: 1.35
-    }
-    scheduler {
-      speed: 25.0
-      ratio: 1.55
-    }
-  }
-  calibration_table {
-    calibration {
-      speed: 0.0
-      acceleration: -1.43
-      command: -35.0
-    }
-    calibration {
-      speed: 0.0
-      acceleration: -1.28
-      command: -27.0
-    }
-    calibration {
-      speed: 0.0
-      acceleration: -1.17
-      command: -25.0
-    }
-    calibration {
-      speed: 0.0
-      acceleration: -1.02
-      command: -30.0
-    }
-    calibration {
-      speed: 0.0
-      acceleration: -0.48
-      command: -27.5
-    }
-    calibration {
-      speed: 0.0
-      acceleration: 0.09
-      command: -20.0
-    }
-    calibration {
-      speed: 0.0
-      acceleration: 0.32
-      command: -15.0
-    }
-    calibration {
-      speed: 0.0
-      acceleration: 0.35
-      command: -17.0
-    }
-    calibration {
-      speed: 0.0
-      acceleration: 0.37
-      command: 17.0
-    }
-    calibration {
-      speed: 0.0
-      acceleration: 0.39
-      command: 15.0
-    }
-    calibration {
-      speed: 0.0
-      acceleration: 0.41
-      command: -13.0
-    }
-    calibration {
-      speed: 0.0
-      acceleration: 0.72
-      command: 20.0
-    }
-    calibration {
-      speed: 0.0
-      acceleration: 0.97
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-      speed: 9.4
-      acceleration: 3.15
-      command: 75.0
-    }
-    calibration {
-      speed: 9.4
-      acceleration: 3.19
-      command: 70.0
-    }
-    calibration {
-      speed: 9.4
-      acceleration: 3.2
-      command: 65.0
-    }
-    calibration {
-      speed: 9.6
-      acceleration: -9.36
-      command: -35.0
-    }
-    calibration {
-      speed: 9.6
-      acceleration: -7.87
-      command: -33.0
-    }
-    calibration {
-      speed: 9.6
-      acceleration: -4.56
-      command: -30.0
-    }
-    calibration {
-      speed: 9.6
-      acceleration: -2.68
-      command: -27.0
-    }
-    calibration {
-      speed: 9.6
-      acceleration: -1.88
-      command: -25.0
-    }
-    calibration {
-      speed: 9.6
-      acceleration: -0.73
-      command: -22.0
-    }
-    calibration {
-      speed: 9.6
-      acceleration: -0.38
-      command: -20.0
-    }
-    calibration {
-      speed: 9.6
-      acceleration: -0.29
-      command: 15.0
-    }
-    calibration {
-      speed: 9.6
-      acceleration: -0.28
-      command: -15.0
-    }
-    calibration {
-      speed: 9.6
-      acceleration: -0.27
-      command: -13.0
-    }
-    calibration {
-      speed: 9.6
-      acceleration: -0.26
-      command: -17.0
-    }
-    calibration {
-      speed: 9.6
-      acceleration: -0.2
-      command: 17.0
-    }
-    calibration {
-      speed: 9.6
-      acceleration: -0.07
-      command: 20.0
-    }
-    calibration {
-      speed: 9.6
-      acceleration: 0.09
-      command: 22.0
-    }
-    calibration {
-      speed: 9.6
-      acceleration: 0.34
-      command: 25.0
-    }
-    calibration {
-      speed: 9.6
-      acceleration: 0.53
-      command: 27.0
-    }
-    calibration {
-      speed: 9.6
-      acceleration: 0.8
-      command: 30.0
-    }
-    calibration {
-      speed: 9.6
-      acceleration: 1.36
-      command: 35.0
-    }
-    calibration {
-      speed: 9.6
-      acceleration: 1.79
-      command: 40.0
-    }
-    calibration {
-      speed: 9.6
-      acceleration: 2.01
-      command: 45.0
-    }
-    calibration {
-      speed: 9.6
-      acceleration: 2.25
-      command: 50.0
-    }
-    calibration {
-      speed: 9.6
-      acceleration: 2.57
-      command: 55.0
-    }
-    calibration {
-      speed: 9.6
-      acceleration: 2.98
-      command: 60.0
-    }
-    calibration {
-      speed: 9.6
-      acceleration: 2.99
-      command: 80.0
-    }
-    calibration {
-      speed: 9.6
-      acceleration: 3.15
-      command: 75.0
-    }
-    calibration {
-      speed: 9.6
-      acceleration: 3.2
-      command: 70.0
-    }
-    calibration {
-      speed: 9.6
-      acceleration: 3.21
-      command: 65.0
-    }
-    calibration {
-      speed: 9.8
-      acceleration: -9.31
-      command: -35.0
-    }
-    calibration {
-      speed: 9.8
-      acceleration: -7.97
-      command: -33.0
-    }
-    calibration {
-      speed: 9.8
-      acceleration: -4.51
-      command: -30.0
-    }
-    calibration {
-      speed: 9.8
-      acceleration: -2.67
-      command: -27.0
-    }
-    calibration {
-      speed: 9.8
-      acceleration: -1.9
-      command: -25.0
-    }
-    calibration {
-      speed: 9.8
-      acceleration: -0.73
-      command: -22.0
-    }
-    calibration {
-      speed: 9.8
-      acceleration: -0.39
-      command: -20.0
-    }
-    calibration {
-      speed: 9.8
-      acceleration: -0.28
-      command: -14.0
-    }
-    calibration {
-      speed: 9.8
-      acceleration: -0.27
-      command: -17.0
-    }
-    calibration {
-      speed: 9.8
-      acceleration: -0.24
-      command: 15.0
-    }
-    calibration {
-      speed: 9.8
-      acceleration: -0.22
-      command: 17.0
-    }
-    calibration {
-      speed: 9.8
-      acceleration: -0.13
-      command: 20.0
-    }
-    calibration {
-      speed: 9.8
-      acceleration: 0.08
-      command: 22.0
-    }
-    calibration {
-      speed: 9.8
-      acceleration: 0.34
-      command: 25.0
-    }
-    calibration {
-      speed: 9.8
-      acceleration: 0.5
-      command: 27.0
-    }
-    calibration {
-      speed: 9.8
-      acceleration: 0.78
-      command: 30.0
-    }
-    calibration {
-      speed: 9.8
-      acceleration: 1.35
-      command: 35.0
-    }
-    calibration {
-      speed: 9.8
-      acceleration: 1.76
-      command: 40.0
-    }
-    calibration {
-      speed: 9.8
-      acceleration: 1.97
-      command: 45.0
-    }
-    calibration {
-      speed: 9.8
-      acceleration: 2.21
-      command: 50.0
-    }
-    calibration {
-      speed: 9.8
-      acceleration: 2.55
-      command: 55.0
-    }
-    calibration {
-      speed: 9.8
-      acceleration: 2.96
-      command: 60.0
-    }
-    calibration {
-      speed: 9.8
-      acceleration: 2.98
-      command: 80.0
-    }
-    calibration {
-      speed: 9.8
-      acceleration: 3.15
-      command: 75.0
-    }
-    calibration {
-      speed: 9.8
-      acceleration: 3.2
-      command: 70.0
-    }
-    calibration {
-      speed: 9.8
-      acceleration: 3.21
-      command: 65.0
-    }
-    calibration {
-      speed: 10.0
-      acceleration: -9.18
-      command: -35.0
-    }
-    calibration {
-      speed: 10.0
-      acceleration: -8.04
-      command: -33.0
-    }
-    calibration {
-      speed: 10.0
-      acceleration: -4.75
-      command: -30.0
-    }
-    calibration {
-      speed: 10.0
-      acceleration: -2.65
-      command: -27.0
-    }
-    calibration {
-      speed: 10.0
-      acceleration: -1.92
-      command: -25.0
-    }
-    calibration {
-      speed: 10.0
-      acceleration: -0.75
-      command: -22.0
-    }
-    calibration {
-      speed: 10.0
-      acceleration: -0.36
-      command: -20.0
-    }
-    calibration {
-      speed: 10.0
-      acceleration: -0.29
-      command: -13.0
-    }
-    calibration {
-      speed: 10.0
-      acceleration: -0.27
-      command: -15.0
-    }
-    calibration {
-      speed: 10.0
-      acceleration: -0.25
-      command: 15.0
-    }
-    calibration {
-      speed: 10.0
-      acceleration: -0.24
-      command: -17.0
-    }
-    calibration {
-      speed: 10.0
-      acceleration: -0.21
-      command: 17.0
-    }
-    calibration {
-      speed: 10.0
-      acceleration: -0.08
-      command: 20.0
-    }
-    calibration {
-      speed: 10.0
-      acceleration: 0.08
-      command: 22.0
-    }
-    calibration {
-      speed: 10.0
-      acceleration: 0.32
-      command: 25.0
-    }
-    calibration {
-      speed: 10.0
-      acceleration: 0.49
-      command: 27.0
-    }
-    calibration {
-      speed: 10.0
-      acceleration: 0.75
-      command: 30.0
-    }
-    calibration {
-      speed: 10.0
-      acceleration: 1.3
-      command: 35.0
-    }
-    calibration {
-      speed: 10.0
-      acceleration: 1.71
-      command: 40.0
-    }
-    calibration {
-      speed: 10.0
-      acceleration: 1.92
-      command: 45.0
-    }
-    calibration {
-      speed: 10.0
-      acceleration: 2.17
-      command: 50.0
-    }
-    calibration {
-      speed: 10.0
-      acceleration: 2.53
-      command: 55.0
-    }
-    calibration {
-      speed: 10.0
-      acceleration: 2.94
-      command: 60.0
-    }
-    calibration {
-      speed: 10.0
-      acceleration: 2.99
-      command: 80.0
-    }
-    calibration {
-      speed: 10.0
-      acceleration: 3.14
-      command: 75.0
-    }
-    calibration {
-      speed: 10.0
-      acceleration: 3.19
-      command: 70.0
-    }
-    calibration {
-      speed: 10.0
-      acceleration: 3.21
-      command: 65.0
-    }
-  }
-}
\ No newline at end of file
diff --git a/modules/control/submodules/BUILD b/modules/control/submodules/BUILD
index e814d015d99..4df6a7cd93b 100644
--- a/modules/control/submodules/BUILD
+++ b/modules/control/submodules/BUILD
@@ -76,13 +76,13 @@ cc_binary(
 )
 
 cc_library(
-    name = "pid_lqr_controller_submodule_lib",
-    srcs = ["pid_lqr_controller_submodule.cc"],
+    name = "lat_lon_controller_submodule_lib",
+    srcs = ["lat_lon_controller_submodule.cc"],
     hdrs = [
-        "pid_lqr_controller_submodule.h",
+        "lat_lon_controller_submodule.h",
     ],
     copts = [
-        "-DMODULE_NAME=\\\"pid_lqr_controller_submodule\\\"",
+        "-DMODULE_NAME=\\\"lat_lon_controller_submodule\\\"",
     ],
     deps = [
         "//cyber",
@@ -106,10 +106,10 @@ cc_library(
 )
 
 cc_binary(
-    name = "pid_lqr_controller_submodule.so",
+    name = "lat_lon_controller_submodule.so",
     linkshared = True,
     linkstatic = False,
-    deps = [":pid_lqr_controller_submodule_lib"],
+    deps = [":lat_lon_controller_submodule_lib"],
 )
 
 cc_library(
diff --git a/modules/control/submodules/pid_lqr_controller_submodule.cc b/modules/control/submodules/lat_lon_controller_submodule.cc
similarity index 59%
rename from modules/control/submodules/pid_lqr_controller_submodule.cc
rename to modules/control/submodules/lat_lon_controller_submodule.cc
index 3c8d37536a0..1d9c92c2013 100644
--- a/modules/control/submodules/pid_lqr_controller_submodule.cc
+++ b/modules/control/submodules/lat_lon_controller_submodule.cc
@@ -14,7 +14,7 @@
  * limitations under the License.
  *****************************************************************************/
 
-#include "modules/control/submodules/pid_lqr_controller_submodule.h"
+#include "modules/control/submodules/lat_lon_controller_submodule.h"
 #include "modules/common/adapters/adapter_gflags.h"
 #include "modules/common/time/time.h"
 #include "modules/common/vehicle_state/vehicle_state_provider.h"
@@ -26,44 +26,44 @@ namespace control {
 using apollo::canbus::Chassis;
 using apollo::common::Status;
 
-PidLqrControllerSubmodule::PidLqrControllerSubmodule()
+LatLonControllerSubmodule::LatLonControllerSubmodule()
     : monitor_logger_buffer_(common::monitor::MonitorMessageItem::CONTROL) {}
 
-PidLqrControllerSubmodule::~PidLqrControllerSubmodule() {}
+LatLonControllerSubmodule::~LatLonControllerSubmodule() {}
 
-std::string PidLqrControllerSubmodule::Name() const {
-  return FLAGS_pid_lqr_controller_submodule_name;
+std::string LatLonControllerSubmodule::Name() const {
+  return FLAGS_lat_lon_controller_submodule_name;
 }
 
-bool PidLqrControllerSubmodule::Init() {
-  /* LQR controller*/
-  if (!cyber::common::GetProtoFromFile(FLAGS_lqr_controller_conf_file,
-                                       &lqr_controller_conf_)) {
-    AERROR << "Unable to load LQR controller conf file: " +
-                  FLAGS_lqr_controller_conf_file;
+bool LatLonControllerSubmodule::Init() {
+  /* lateral controller*/
+  if (!cyber::common::GetProtoFromFile(FLAGS_lateral_controller_conf_file,
+                                       &lateral_controller_conf_)) {
+    AERROR << "Unable to load lateral controller conf file: " +
+                  FLAGS_lateral_controller_conf_file;
     return false;
   }
-  if (!lqr_controller_.Init(&lqr_controller_conf_).ok()) {
+  if (!lateral_controller_.Init(&lateral_controller_conf_).ok()) {
     monitor_logger_buffer_.ERROR(
-        "Control init LQR controller failed! Stopping...");
+        "Control init lateral controller failed! Stopping...");
     return false;
   }
-  /* PID controller*/
-  if (!cyber::common::GetProtoFromFile(FLAGS_pid_controller_conf_file,
-                                       &pid_controller_conf_)) {
-    AERROR << "Unable to load PID controller conf file: " +
-                  FLAGS_pid_controller_conf_file;
+  /* longitudinal controller*/
+  if (!cyber::common::GetProtoFromFile(FLAGS_longitudinal_controller_conf_file,
+                                       &longitudinal_controller_conf_)) {
+    AERROR << "Unable to load longitudinal controller conf file: " +
+                  FLAGS_longitudinal_controller_conf_file;
     return false;
   }
-  if (!pid_controller_.Init(&pid_controller_conf_).ok()) {
+  if (!longitudinal_controller_.Init(&longitudinal_controller_conf_).ok()) {
     monitor_logger_buffer_.ERROR(
-        "Control init PID controller failed! Stopping...");
+        "Control init longitudinal controller failed! Stopping...");
     return false;
   }
   return true;
 }
 
-bool PidLqrControllerSubmodule::Proc(
+bool LatLonControllerSubmodule::Proc(
     const std::shared_ptr<Preprocessor>& preprocessor_status) {
   ControlCommand control_command;
 
@@ -82,27 +82,30 @@ bool PidLqrControllerSubmodule::Proc(
   return true;
 }
 
-Status PidLqrControllerSubmodule::ProduceControlCommand(
+Status LatLonControllerSubmodule::ProduceControlCommand(
     ControlCommand* control_command) {
   std::lock_guard<std::mutex> lock(mutex_);
   if (local_view_->mutable_chassis()->driving_mode() ==
       Chassis::COMPLETE_MANUAL) {
-    lqr_controller_.Reset();
-    pid_controller_.Reset();
+    lateral_controller_.Reset();
+    longitudinal_controller_.Reset();
     AINFO_EVERY(100) << "Reset Controllers in Manual Mode";
   }
-  //   ControlCommand pid_control_command;
-  Status pid_status = pid_controller_.ComputeControlCommand(
+
+  // fill out control command sequentially
+  Status lateral_status = lateral_controller_.ComputeControlCommand(
       local_view_->mutable_localization(), local_view_->mutable_chassis(),
       local_view_->mutable_trajectory(), control_command);
-  if (!pid_status.ok()) {
-    return pid_status;
+
+  // return error if lateral status has error
+  if (!lateral_status.ok()) {
+    return lateral_status;
   }
-  //   ControlCommand lqr_control_command;
-  Status lqr_status = lqr_controller_.ComputeControlCommand(
+
+  Status longitudinal_status = longitudinal_controller_.ComputeControlCommand(
       local_view_->mutable_localization(), local_view_->mutable_chassis(),
       local_view_->mutable_trajectory(), control_command);
-  return lqr_status;
+  return longitudinal_status;
 }
 
 }  // namespace control
diff --git a/modules/control/submodules/pid_lqr_controller_submodule.h b/modules/control/submodules/lat_lon_controller_submodule.h
similarity index 88%
rename from modules/control/submodules/pid_lqr_controller_submodule.h
rename to modules/control/submodules/lat_lon_controller_submodule.h
index c7bbc498e37..4d73ab86631 100644
--- a/modules/control/submodules/pid_lqr_controller_submodule.h
+++ b/modules/control/submodules/lat_lon_controller_submodule.h
@@ -37,17 +37,17 @@
 
 namespace apollo {
 namespace control {
-class PidLqrControllerSubmodule final : public cyber::Component<Preprocessor> {
+class LatLonControllerSubmodule final : public cyber::Component<Preprocessor> {
  public:
   /**
    * @brief Construct a new PID+LQR ControllerSubmodule object
    *
    */
-  PidLqrControllerSubmodule();
+  LatLonControllerSubmodule();
   /**
    * @brief Destructor
    */
-  ~PidLqrControllerSubmodule();
+  ~LatLonControllerSubmodule();
 
   /**
    * @brief Get name of the node
@@ -77,18 +77,18 @@ class PidLqrControllerSubmodule final : public cyber::Component<Preprocessor> {
 
   common::monitor::MonitorLogBuffer monitor_logger_buffer_;
 
-  LatController lqr_controller_;
-  LonController pid_controller_;
+  LatController lateral_controller_;
+  LonController longitudinal_controller_;
 
   std::mutex mutex_;
   // TODO(SHU): separate conf
-  ControlConf lqr_controller_conf_;
-  ControlConf pid_controller_conf_;
+  ControlConf lateral_controller_conf_;
+  ControlConf longitudinal_controller_conf_;
   LocalView* local_view_;
   std::shared_ptr<cyber::Writer<ControlCommand>> control_command_writer_;
 };
 
-CYBER_REGISTER_COMPONENT(PidLqrControllerSubmodule)
+CYBER_REGISTER_COMPONENT(LatLonControllerSubmodule)
 
 }  // namespace control
 }  // namespace apollo