kevin-y-wang
commented
4 years ago @lycismail Thanks a lot for your question. Based on the further check of the dynamic models and codes, we figure out the matrixc(5, 0) = 1.0 is a typo and it should be set as zero. We have already fixed it. Again, thank you for the constructive suggestion.
About Vehicle dynamics model in moudles/control ---- MPC controller
About the Matrix C to describe the differential of the speed error. Why we set the matrixc(5, 0) = 1.0 ? As far as I know that it just has relationship with the delta acceleration of the automobile. So I am confused with it and wanna ask the answer here to learn more. Looking forward to your reply and more discussion about it. Thank u so much.