How to design reference block from driving scenario designer app in MPC model design?

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mukesh pandey 2021-6-4

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https://ww2.mathworks.cn/matlabcentral/answers/848000-how-to-design-reference-block-from-driving-scenario-designer-app-in-mpc-model-design

评论： mukesh pandey 2021-8-23

I am working on Path tracking control of autonomous driving based on Model predictive control.In this process, I have created a MPC model in simulink. Also created a reference block (scenario reader block) from drivng scenario designer app.but, when I am going to design MPC block and 'define and linearize' the MPC structure.It shows an error massage-

"Cannot propagate bus signal from output port 1 of 'mpc_model/Subsystem1/In2' to input port 1 of 'mpc_model/Subsystem1/Demux1' because this input port requires a non-bus signal."

I am attaching the screenshots of MPC model.

Anyone please help me out.

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浩郭 2021-8-21

Although I only used the function to successfully implement the reference trajectory setting, I know that the scenario reader block cannot record the change of the yaw angle. You need to install the camera and radar on the car model first, and then export simulink block.Hope it helps you.

mukesh pandey 2021-8-23