Simulation parameters are in Config/sim_main_params.yaml

simulation mode	description
0	CiL: simulation model= separate vehicle dynamics model
1	MPC Sim: simulation model= MPC predictions

Time params

parameter	description	default value
Tp	prediction horizon [s]	3
Ts_MPC	MPC prediction discretization step [s]	0.05
Ts	Simulation sampling period [s]	0.025
N	number of discretizaion steps MPC
T	simulation time [s]

Simulation highlevel

• simulation step:
  • simMode = 1 (MPCiL) sim step = next MPC pred
  • simMode = 0 (CiL)
    • preprocess control input/optimal state
    • call Simulator step method