Parameters of the lateral control algorithm
| Prediction horizon/Control horizon | P | 5 |
| Sampling time | Ts | 0.02 [s] |
| Output weighting matrix | q | [50 0;0 10] |
| Control weighting coefficient | r | 4 |
| Control variable upper limit | umax | 0.52 [rad] |
| Control variable lower limit | umin | −0.52 [rad] |
| 5 | ||
| 0.02 [s] | ||
| [50 0;0 10] | ||
| 4 | ||
| 0.52 [rad] | ||
| −0.52 [rad] |
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