# Commaai-Openpilot-automatic-vehicle-control-algorithm
- Analyzed commaai Openpilot MPC lateral control algorithm based on kinematic vehicle model
- Reproduced the algorithm and Tested the performance and robustness in simulated environment
基于运动学车辆模型的开放式驾驶MPC横向控制算法Analyzed commaai Openpilot MPC lateral c
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2024-05-12
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基于运动学车辆模型的开放式驾驶MPC横向控制算法Analyzed commaai Openpilot MPC lateral c （101个子文件） 
Autopilot_cost_function.asv 3KB calc_autop.asv 1KB main_path_tracking.m 9KB main_path_tracking.m 9KB generate_trajref.m 5KB generate_trajref.m 5KB Autopilot_cost_function.m 3KB calc_mpc.m 3KB calc_mpc.m 3KB solve_mpc_problem.m 3KB solve_mpc_problem.m 3KB plot_result.m 3KB plot_result.m 3KB load_lqr_apollo_params.m 3KB load_lqr_apollo_params.m 3KB load_autopilot_params.m 2KB calc_lqr_Apollo_feedbackward.m 2KB calc_lqr_Apollo_feedbackward.m 2KB load_mpc_params.m 2KB load_mpc_params.m 2KB Autopilot_cost_function.m 2KB load_autopilot_params.m 2KB draw_path_tracking.m 2KB draw_path_tracking.m 2KB update_veh_pose_mpc.m 2KB update_veh_pose_mpc.m 2KB calc_lqr_feedbackward.m 2KB calc_lqr_feedbackward.m 2KB ALG_LQR_Apollo.m 2KB ALG_LQR_Apollo.m 2KB set_trajref_params.m 2KB set_trajref_params.m 2KB ALG_Autopilot.m 1KB ALG_Autopilot.m 1KB calc_autop.m 1KB ALG_LQR_model3.m 1KB ALG_LQR_model3.m 1KB ALG_PP.m 1KB ALG_PP.m 1KB calc_autop.m 1KB ALG_MPC.m 1KB ALG_MPC.m 1KB calc_proj_pose.m 1KB calc_proj_pose.m 1KB update_veh_pose.m 1KB update_veh_pose.m 1KB self_aligning_control.m 926B self_aligning_control.m 926B set_title_name.m 905B draw_arrow.m 879B draw_arrow.m 879B load_lqr_model3_params.m 825B load_lqr_model3_params.m 825B set_title_name.m 825B draw_traj_curvature.m 733B draw_traj_curvature.m 732B solve_lqr_problem.m 706B solve_lqr_problem.m 706B limit_steer_by_angular_vel.m 681B limit_steer_by_angular_vel.m 681B cvt_global_to_local.m 626B cvt_global_to_local.m 626B preview_point_on_trajref.m 610B preview_point_on_trajref.m 610B update_state_matrix.m 585B update_state_matrix.m 585B calc_nearest_point.m 479B calc_nearest_point.m 479B draw_veh_pose.m 457B draw_veh_pose.m 457B log_init.m 444B log_init.m 444B pure_pursuit.m 431B pure_pursuit.m 431B set_y_limits.m 429B set_y_limits.m 429B angle_normalization.m 378B update_LQR_matrix.m 378B angle_normalization.m 378B update_LQR_matrix.m 378B calc_heading_angle.m 354B calc_heading_angle.m 354B calc_preview_dist.m 339B calc_preview_dist.m 339B limit_steer_angle.m 311B limit_steer_angle.m 311B calc_steer_feedforward.m 293B calc_steer_feedforward.m 293B limit_radius.m 250B limit_radius.m 250B load_circle_pp_params.m 247B load_circle_pp_params.m 247B load_pp_params.m 228B load_pp_params.m 228B apply_kinematics.m 218B apply_kinematics.m 218B update_angular_velocity.m 217B update_angular_velocity.m 217B rungekutta.m 197B README.md 252B共 101 条
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