MPC Lane Keeping System
Model Predictive Control for Autonomous Vehicle Lane Keeping
A Simple Neal Demo :D
MPC Parameters
Prediction Horizon (N)
15
Lateral Error Weight (Q₁)
50
Heading Weight (Q₂)
10
Control Effort Weight (R)
1.0
Vehicle Speed (m/s)
15
Disturbance Level
0
Pause
Reset
0.00
Lateral Error (m)
0.0
Heading Error (°)
0.0
Steering Command (°)
2.3
Solve Time (ms)
10.0
Control Frequency (Hz)
95.2
Trajectory Quality (%)