hongwang1999/mpc-for-self-driving-vehicles

This repo holds the Simulink/CarSim codes for examples of Self-driving Vehicles and Model Predictive Contorl (2ed edition).

无人驾驶车辆模型预测控制(第2版)

无人驾驶车辆模型预测控制(第2版)随书仿真程序及扩展学习资料.

This repo holds the Simulink/CarSim codes for examples of Self-driving Vehicles and Model Predictive Contorl (2ed edition).

Contents

1. Chapter-2: Vehicle model validation, including 4 examples

   • tire model validation
   • kinematic model validation
   • dynamic model validation

2. Chapter-3: MPC for longitudinal control, including 4 examples

   • a simple example using MPC toolbox for speed tracking demo
   • MPC for speed tracking control with du as input
   • Extended: MPC for speed tracking control with u as input
   • Extended: MPC for Adaptive Cruise Control, involve multi-vehicle joint simulation

3. Chapter-4: MPC use kinematic model for path tracking, including 4 examples

   • Matlab code for given path tracking
   • Simulink/CarSim for given path tracking
   • Adaptive path fitting with 3rd-order Bezier curve
   • MPC for general path tracking

4. Chapter-5: MPC use dynamic model for Active Frontwheel Steering (AFS), including 2 examples

   • Tire Cornering Stiffness Estimation use RLS method
   • MPC for AFS

5. Chapter-6: MPC for path tracking with local planning, including 1 examples

   • MPC for obstacle avoidance in local planning, then MPC for tracking

6. Chapter-7: MPC for handlig stability of high-speed self-driving Vehicles, including 3 examples

   • Different qp-solver compare test
   • MPC for high-speed self-driving vehicles, ignore handling stability
   • MPC for high-speed self-driving vehicles consider handling stability

7. Chapter-8:MPC for rollover prevention consider road terrain information, including 2 examples

   • Zero-Moment-Point based Rollover criteria validation
   • MPC for path tracking considering road terrain and rollover prevention

Relatives links

IVRC: Link for Inteligent Vehicle Research Center (IVRC) of BIT

qpOASES: Link for qpOASES

OSQP: Link for OSQP

Bug reports and support

Please report any issues via the Github issue tracker. All types of issues are welcome, including bug reports, documentation typos, feature requests and so on.

Contact Me

Personal homepage: https://leoking99-bit.github.io/

Email: [email protected]

If you have any questions or suggestions, please don't hesitate to contact me. Any advices and comments would be highly appreciated.