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 control algorithm based on kinematic vehicle model
资源文件列表
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/README.md , 252
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj-backup/ALG_Autopilot.m , 1470
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj-backup/ALG_LQR_Apollo.m , 1769
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj-backup/ALG_LQR_model3.m , 1331
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj-backup/ALG_MPC.m , 1159
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj-backup/ALG_PP.m , 1297
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj-backup/Autopilot_cost_function.m , 2328
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj-backup/angle_normalization.m , 378
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj-backup/apply_kinematics.m , 218
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj-backup/calc_autop.m , 1244
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj-backup/calc_heading_angle.m , 354
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj-backup/calc_lqr_Apollo_feedbackward.m , 2532
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj-backup/calc_lqr_feedbackward.m , 1914
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj-backup/calc_mpc.m , 3452
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj-backup/calc_nearest_point.m , 479
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj-backup/calc_preview_dist.m , 339
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj-backup/calc_proj_pose.m , 1118
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj-backup/calc_steer_feedforward.m , 293
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj-backup/cvt_global_to_local.m , 626
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj-backup/draw_arrow.m , 879
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj-backup/draw_path_tracking.m , 2250
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj-backup/draw_traj_curvature.m , 733
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj-backup/draw_veh_pose.m , 457
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj-backup/generate_trajref.m , 4828
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj-backup/limit_radius.m , 250
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj-backup/limit_steer_angle.m , 311
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj-backup/limit_steer_by_angular_vel.m , 681
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj-backup/load_autopilot_params.m , 2555
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj-backup/load_circle_pp_params.m , 247
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj-backup/load_lqr_apollo_params.m , 2790
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj-backup/load_lqr_model3_params.m , 825
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj-backup/load_mpc_params.m , 2349
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj-backup/load_pp_params.m , 228
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj-backup/log_init.m , 444
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj-backup/main_path_tracking.m , 8774
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj-backup/plot_result.m , 3081
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj-backup/preview_point_on_trajref.m , 610
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj-backup/pure_pursuit.m , 431
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj-backup/self_aligning_control.m , 926
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj-backup/set_title_name.m , 825
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj-backup/set_trajref_params.m , 1560
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj-backup/set_y_limits.m , 429
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj-backup/solve_lqr_problem.m , 706
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj-backup/solve_mpc_problem.m , 3423
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj-backup/update_LQR_matrix.m , 378
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj-backup/update_angular_velocity.m , 217
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj-backup/update_state_matrix.m , 585
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj-backup/update_veh_pose.m , 1107
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj-backup/update_veh_pose_mpc.m , 2078
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj/ALG_Autopilot.m , 1499
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj/ALG_LQR_Apollo.m , 1769
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj/ALG_LQR_model3.m , 1331
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj/ALG_MPC.m , 1159
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj/ALG_PP.m , 1297
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj/Autopilot_cost_function.asv , 3545
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj/Autopilot_cost_function.m , 3545
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj/angle_normalization.m , 378
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj/apply_kinematics.m , 218
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj/calc_autop.asv , 1412
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj/calc_autop.m , 1416
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj/calc_heading_angle.m , 354
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj/calc_lqr_Apollo_feedbackward.m , 2532
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj/calc_lqr_feedbackward.m , 1914
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj/calc_mpc.m , 3452
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj/calc_nearest_point.m , 479
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj/calc_preview_dist.m , 339
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj/calc_proj_pose.m , 1118
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj/calc_steer_feedforward.m , 293
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj/cvt_global_to_local.m , 626
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj/draw_arrow.m , 879
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj/draw_path_tracking.m , 2250
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj/draw_traj_curvature.m , 732
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj/draw_veh_pose.m , 457
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj/generate_trajref.m , 4828
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj/limit_radius.m , 250
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj/limit_steer_angle.m , 311
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj/limit_steer_by_angular_vel.m , 681
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj/load_autopilot_params.m , 2268
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj/load_circle_pp_params.m , 247
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj/load_lqr_apollo_params.m , 2790
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj/load_lqr_model3_params.m , 825
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj/load_mpc_params.m , 2349
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj/load_pp_params.m , 228
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj/log_init.m , 444
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj/main_path_tracking.m , 8792
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj/plot_result.m , 3081
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj/preview_point_on_trajref.m , 610
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj/pure_pursuit.m , 431
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj/rungekutta.m , 197
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj/self_aligning_control.m , 926
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj/set_title_name.m , 905
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj/set_trajref_params.m , 1560
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj/set_y_limits.m , 429
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj/solve_lqr_problem.m , 706
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj/solve_mpc_problem.m , 3423
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj/update_LQR_matrix.m , 378
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj/update_angular_velocity.m , 217
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj/update_state_matrix.m , 585
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj/update_veh_pose.m , 1107
Commaai-Openpilot-automatic-vehicle-control-algorithm--master/openpilot/path-tracking-zsj/update_veh_pose_mpc.m , 2078