Lateral oscillation in executing lane change maneuvers #9382
Description
When executing lane-change or cut-in maneuvers in CARLA version 0.9.15, the ego vehicle often exhibits lateral oscillations (side-to-side wobbling) around the
reference path during or after the maneuver.
This oscillation occurs when using CARLA's built-in PID-based local planner (e.g., BasicAgent or BehaviorAgent).
The issue is reproducible in multiple maps (e.g., Town04, custom one-way maps) and persists across different weather and physics settings.
So please I wanna know what is the cause of this issue and how can I solve it ?