image thumbnail

Vehicle Path Tracking Using Model Predictive Control (MPC)

version 1.0.1 (1.23 MB) by MathWorks Student Competitions Team
This submission contains a model to show the implementation of MPC on a vehicle moving in a US Highway scene.

420 Downloads

Updated 14 Dec 2020

From GitHub

View license on GitHub

This submission contains a model to show the implementation of MPC on a vehicle moving in a US Highway scene. Steps below describe the workflow:

1. Generating waypoints
2. Calculating curvature for MPC implementation
3. Generating MPC pedal map
4. Visualizing vehicle final path in 2D, Bird's-Eye Scope and a 3D simulation environment.

The users can refer this model to perform path tracking applications for a given waypoints. The results can be visualized in a 2D plot that compares the obtained and the reference trajectory.

Please go through the readme file for more details on how to use the model and how to tune the controller: https://github.com/mathworks/vehicle-model-predictive-control

Cite As

MathWorks Student Competitions Team (2021). Vehicle Path Tracking Using Model Predictive Control (MPC) (https://github.com/mathworks/vehicle-model-predictive-control/releases/tag/v1.0.1), GitHub. Retrieved .

MATLAB Release Compatibility
Created with R2020b
Compatible with any release
Platform Compatibility
Windows macOS Linux

Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!

Models/1_MPC_Figure_Eight

Models/2_MPC_USHighway

Models/1_MPC_Figure_Eight

Models/2_MPC_USHighway

To view or report issues in this GitHub add-on, visit the GitHub Repository.
To view or report issues in this GitHub add-on, visit the GitHub Repository.