alexliniger
commented
3 years ago 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
Hello, i have one Doubt . In the Main file Your Representing states of X0 with 10 parameters, that was sending to the solver. i want to know that what are the parameters are to sending to solver and also X0.s also you are using i don't know what the use of it.