Model Predictive Control for Self-Driving Car
Branch: master
Clone or download
Fetching latest commit…
Cannot retrieve the latest commit at this time.
Type Name Latest commit message Commit time
Failed to load latest commit information.


Self-Driving Car Engineer Nanodegree Program

Project Description

In this project describes how to use Model Predictive Control to drive the car around the track in the Udacity simulator. This time however the cross track error (CTE) is unknown, thus we have to calculate that ourself! Additionally, there's a 100 millisecond latency between actuations commands on top of the connection latency.

The result video can be seen in this below animation or click to see in the original size.

MPC final result

For more details about the implementation, please read the writeup


  • cmake >= 3.5
  • All OSes: click here for installation instructions
  • make >= 4.1
  • gcc/g++ >= 5.4
  • uWebSockets
    • Run either or
    • If you install from source, checkout to commit e94b6e1, i.e.
      git clone 
      cd uWebSockets
      git checkout e94b6e1
      Some function signatures have changed in v0.14.x. See this PR for more details.
  • Fortran Compiler
    • Mac: brew install gcc (might not be required)
    • Linux: sudo apt-get install gfortran. Additionall you have also have to install gcc and g++, sudo apt-get install gcc g++. Look in this Dockerfile for more info.
  • Ipopt
    • Mac: brew install ipopt
    • Linux
      • You will need a version of Ipopt 3.12.1 or higher. The version available through apt-get is 3.11.x. If you can get that version to work great but if not there's a script that will install Ipopt. You just need to download the source from the Ipopt releases page or the Github releases page.
      • Then call with the source directory as the first argument, ex: bash Ipopt-3.12.1.
    • Windows: TODO. If you can use the Linux subsystem and follow the Linux instructions.
  • CppAD
    • Mac: brew install cppad
    • Linux sudo apt-get install cppad or equivalent.
    • Windows: TODO. If you can use the Linux subsystem and follow the Linux instructions.
  • Eigen. This is already part of the repo so you shouldn't have to worry about it.
  • Simulator. You can download these from the releases tab.
  • Not a dependency but read the for a description of the data sent back from the simulator.

Basic Build Instructions

  1. Clone this repo.
  2. Make a build directory: mkdir build && cd build
  3. Compile: cmake .. && make
  4. Run it: ./mpc.


  1. It's recommended to test the MPC on basic examples to see if your implementation behaves as desired. One possible example is the vehicle starting offset of a straight line (reference). If the MPC implementation is correct, after some number of timesteps (not too many) it should find and track the reference line.
  2. The lake_track_waypoints.csv file has the waypoints of the lake track. You could use this to fit polynomials and points and see of how well your model tracks curve. NOTE: This file might be not completely in sync with the simulator so your solution should NOT depend on it.
  3. For visualization this C++ matplotlib wrapper could be helpful.

Editor Settings

We've purposefully kept editor configuration files out of this repo in order to keep it as simple and environment agnostic as possible. However, we recommend using the following settings:

  • indent using spaces
  • set tab width to 2 spaces (keeps the matrices in source code aligned)

Code Style

Please (do your best to) stick to Google's C++ style guide.

Project Instructions and Rubric

Note: regardless of the changes you make, your project must be buildable using cmake and make!

More information is only accessible by people who are already enrolled in Term 2 of CarND. If you are enrolled, see the project page for instructions and the project rubric.


  • You don't have to follow this directory structure, but if you do, your work will span all of the .cpp files here. Keep an eye out for TODOs.


For this project, I use the codelite IDE. To import this project in codelite, please import the project file CarND2-P5-MPC-Project.project.