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o T
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o xt
▪ t T
xt-1 xt
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xt-1 ut-1 xt ut
ut

xt

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𝑥𝑡+1 = 𝐴𝑥𝑡 + 𝐵𝑢𝑡
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𝑈 = {𝑢𝑡|𝑡 , 𝑢𝑡+1|𝑡 , 𝑢𝑡+2|𝑡 , … }
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𝑡+𝑇−1
𝑇 𝑇
𝐽 𝑥 𝑡 , 𝑈 = ෍ 𝑥𝑗|𝑡 𝑄𝑥𝑗|𝑡 + 𝑢𝑗|𝑡 𝑅𝑢𝑗|𝑡
𝑗=𝑡
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𝑡+𝑇−1
𝑇 𝑇
𝛿𝑥𝑗|𝑡 =𝑥𝑗|𝑡,𝑑𝑒𝑠 − 𝑥𝑗|𝑡 𝐽 𝑥 𝑡 , 𝑈 = ෍ 𝛿𝑥𝑗|𝑡 𝑄𝛿𝑥𝑗|𝑡 + 𝑢𝑗|𝑡 𝑅𝑢𝑗|𝑡
𝑗=𝑡
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𝑡+𝑇−1
T T T
min 𝐽 𝑥 𝑡 , 𝑈 = 𝑥𝑡+𝑇|𝑡 𝑄𝑓 𝑥𝑡+𝑇|𝑡 + ෍ 𝑥𝑗|𝑡 𝑄𝑥𝑗|𝑡 + 𝑢𝑗|𝑡 𝑅𝑢𝑗|𝑡
𝑈≜{𝑢𝑡|𝑡 ,𝑢𝑡+1|𝑡 ,… }
𝑗=𝑡

𝑠. 𝑡. 𝑥𝑗+1|𝑡 = 𝐴𝑥𝑡|𝑡 + 𝐵𝑢𝑡|𝑡 , 𝑡 ≤𝑗 ≤𝑡+𝑇−1

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o 𝑢𝑡 = −𝐾𝑥𝑡
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𝑡+𝑇

min 𝐽 𝑥 𝑡 , 𝑈 = ෍ 𝐶(𝑥𝑗|𝑡 , 𝑢𝑗|𝑡 )

𝑈≜{𝑢𝑡|𝑡 ,𝑢𝑡+1|𝑡 ,… }
𝑗=𝑡

𝑠. 𝑡. 𝑥𝑗+1|𝑡 = 𝑓 𝑥𝑗|𝑡 , 𝑢𝑗|𝑡 , 𝑡 ≤𝑗 ≤𝑡+𝑇−1

𝑥𝑚𝑖𝑛 ≤ 𝑥𝑗+1|𝑡 ≤ 𝑥𝑚𝑎𝑥 , 𝑡 ≤𝑗 ≤𝑡+𝑇−1
𝑢𝑚𝑖𝑛 ≤ 𝑢𝑗|𝑡 ≤ 𝑢𝑚𝑎𝑥 , 𝑡 ≤𝑗 ≤𝑡+𝑇−1
𝑔 𝑥𝑗|𝑡 , 𝑢𝑗|𝑡 ≤ 0, 𝑡 ≤𝑗 ≤𝑡+𝑇−1
ℎ 𝑥𝑗|𝑡 , 𝑢𝑗|𝑡 = 0, 𝑡 ≤𝑗 ≤𝑡+𝑇−1

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Reference 𝐹𝑥 Throttling
Trajectory Braking

𝐹𝑦 Steering

States (measured or estimated)

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Lateral Motion
Velocity – Longitudinal

Velocity – Lateral
Tire Forces Yaw Rate
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