About the State Parameters about mpcc

[alexliniger]

The state is x0 = [X, Y, phi, v_x, v_y, r, s, d, delta, v_s]
X-Y -> position
phi -> heading
v_x -> longitudinal velocity
v_y -> longitudinal velocity
r -> yaw rate
s -> arc length along the reference path (middle line)
d -> duty cycle
delta -> steering
v_s -> velocity along the reference path

if you take an X-Y point and project it on the reference path, the arc length of this point is 's'

I hope this helps,
Alex