This project is to use Model Predictive Control (MPC) to drive a car in a game simulator. The server provides reference waypoints (yellow line in the demo video) via websocket, and we use MPC to compute steering and throttle commands to drive the car. The solution must be robust to 100ms latency, since it might encounter in real-world application.
License: MIT License
May I ask what is the cost function. Also how do you ensure it is minimum Jerk, now it seems to be that if the input is 'a', then the result can only ensure C2 continuity but not C3. Thanks!
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