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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