Table 3 Main simulation parameters
Parameters | Symbols | Value |
|---|---|---|
System initial conditions | \(MPC\_\rho\) | 0.01 |
Control horizon \(N_{c}\) | 10 | |
Predicted horizon \(N_{p}\) | 30 | |
Episode number \(N\) | 120000 | |
Sampling time \(T\) (s) | 0.1 | |
Track length (timestep) | 750 | |
System constrains | Input variable (m/s2) | \(- 4 \le u(k) \le 3\) |
Velocity \(v\) (m/s2) | \(0 \le v(k) \le 20\) | |
Acceleration \(a\) (m/s2) | \(- 4 \le a(k) \le 3\) | |
Vehicle jerk \(j\) (m/s2) | \(- 3 \le j(k) \le 3\) | |
Relaxation factor \(\varepsilon\) | \(0 \le \varepsilon \le 0.02\) |