Hierarchical MPC Avoidance
High-Level Strategic Planner + Low-Level MPC Execution
Lane Control
Current Lane: Right
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Obstacle Control
No Active Obstacles
Auto Generate Obstacles:
Enable
Clear All Obstacles
Simulation Control
Pause
Reset
NORMAL
High-Level Mode
FOLLOWING
MPC Execution Mode
0.00
Lateral Error (m)
0.0
Steering Command (°)
0
Obstacle Threat Level
0.0
Last Decision (s ago)
0
Active Obstacles
0
Lane Change Progress (%)
0.0
MPC Solve Time (ms)