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The Mid Level Controller is based on the Raspberry Pi Zero W. It is part of the vehicle on-board electronics.

Its purposes are:

  • Provide a wireless network connection for the vehicle.
  • Provide a synchronized clock on the vehicle, via the Linux NTP implementation.
  • Provide a control system for accurate trajectory following of the vehicle. The control system runs locally on the vehicle to eliminate the network latency from the control loop.
  • Send vehicle state information and receive trajectory commands via the network.

The setup and software build for the Raspberry Pi is explained under Vehicle Raspberry Pi.

Trajectory Controller

A model predictive controller runs on-board on the Raspberry Pi. It can steer the vehicle to follow a given trajectory.

To see how to use it to control a vehicle, go to Vehicle Commands.

To see how it works, go to https://git.rwth-aachen.de/CPM/Project/Lab/software/blob/master/matlab_scripts/vehicle_dynamics_identification_and_mpc/documentation/main.pdf

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