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.

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