NMPC-CarSim

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This project uses Casadi in Matlab to implement a NMPC controller for a vehicle in CarSim.

https://youtu.be/6wHSdGmxydk

https://ieeexplore.ieee.org/document/9047783

If you use this project, give us the credit by citing this work:

@inproceedings{dawood2020nonlinear,
  title={A nonlinear model predictive controller for autonomous driving},
  author={Dawood, Murad and Abdelaziz, Mohamed and Ghoneima, M and Hammad, S},
  booktitle={2020 International Conference on Innovative Trends in Communication and Computer Engineering (ITCE)},
  pages={151--157},
  year={2020},
  organization={IEEE}
}

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Steps to run model:

1. Go to CarSim2017.1_Data\Extensions\Simulink and place the file "murad_nmpc.slx"(matlab 2019a).
2. Go to CarSim2017.1_Data\ and place the file "casadi_block_presented.m".
3. In CarSim go to File -> import parsfile and select the file "murad_nmpc.par".
4. Install casadi from https://web.casadi.org/get/
5. Edit the path to casadi folder in the "casadi_block_presented.m" in the "setupImpl" function.
6. In CarSim select send to simulink (CarSim will load a Matlab instance)
7. Once the Simulink model is loaded, click run to start the simulation.