## Project Description
### Files Overview:
- **CalAccTab.m**: Computes the calibration table data.
- **drawReslt.m**: Script for drawing simulation results.
- **Lattice_MPC_Carsim.six**: Main model file.
- **LatticeCarsimDataset.cpar**: Carsim dataset export file.
- **LatticePlanner.m**: S-function file for Lattice planner.
- **MPCController.m**: S-function file for MPC tracking.
- **ScenarioEnv.m**: Environment class required by the planner.
### Workflow
1. **Data Import**
- Start by importing the `LatticeCarsimDataset.cpar` dataset into Carsim.
2. **Calibration**
- Execute `CalAccTab.m` in MATLAB to process calibration data.
3. **Simulation Execution**
- Run the model `Lattice_MPC_Carsim.six` within MATLAB.
4. **Visualization**
- View the animation results directly in Carsim after the simulation is complete.
### Demo Video
Below is a demo video showing the project in action:
[![Lattice_MPC_DEMO](https://github.com/RichardGuo0301/Lattice_MPC_Carsim/blob/main/demo.jpg)
[Download or view demo video](https://github.com/RichardGuo0301/Lattice_MPC_Carsim/blob/main/demo.mp4)
MATLAB 和 Carsim 测试先进的车辆控制系统.zip
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