- ๐ Hi, Iโm @lee-ck
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Model predictive control (MPC) of an autonomous vehilcle for lane tracking and obstacle avoidance with ACADO toolkit
Hello! Is that a CPP version of this code?
Thanks a lot!
I'm learning Acado MPC myself. Looking through your code, I see the hard constraints on absolute acceleration and steer angle:
https://github.com/lee-ck/Model-Predictive-Control/blob/master/MPC_carmodel/ACADO/ACADO_main_.m#L107
But I'm having a hard time finding where these are constrained:
I'm hacking on my own self driving car and trying to enhance lat control:
https://github.com/commaai/openpilot/blob/devel/selfdrive/controls/lib/lateral_mpc/generator.cpp#L111
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