Research Engineer Intern - Control

Generate Joint lateral & longitudinal control action planning

Expand the lateral nonlinear MPC to include the longitudinal speed adjustment with additional decision variable of acceleration.

Expand the pure slip tire model to be combined slip tire model leveraging the longitudinal speed coupling into the model. The longitudinal MPC is reallocated to be the consumer of the lateral optimized speed trace. Iterative lateral & longitudinal control/planning: when lateral offset is large and cannot reduce due to steering rate limit, reduce target speed and recompute lateral command -> iterate

Leverage existing data driven vehicle model simulation to evaluate and deploy