leoking99-bit / mpc-for-self-driving-vehicles Goto Github PK

(I do the following in CarSim2016 and Matlab2016b)
I import the '.par' file, then select the path of the '.mdl'. But This error appears:

Then:

And:

First of all, Appreciate your excellent work.

I met some issues when running Carsim/Simulink simulation code in folder [chap5_DynamicModel_AFS](https://github.com/leoking99-BIT/MPC-for-Self-driving-Vehicles/tree/master/Chapter-5/chap5_DynamicModel_AFS). Specifically, it works fine when the speed of vehicle is 18km/h. However, if the velocity is 108km/h, which is same as the setting as in the book in chapter 5, the tracking error for double lane change is much more large than that shown in the book. Could you give some advice. Thank you so much.

I would like to know the role of additional control variables in the control process of the comprehensive equivalent constraint vehicle dynamics model in the book. I sincerely hope to receive answers from the author or other scholars.