Regarding the problem of the car exceeding the road boundary

[whitewolfcheng]

Hello，I am studying your code at [https://github.com/urosolia/RacingLMPC].

But I had some questions when I was running your program.

I use a judgment condition to judge whether the state variable exceeds the boundary constraint in 'SysModels.py' when a new state variable is generated :
x[i + 1, :], x_glob[i + 1, :] = _DynModel(x[i, :], x_glob[i, :], u[i, :], np, ClosedLoopData.dt, self.map.PointAndTangent) if x[i+1,5]>=self.map.halfWidth: print 'Lateral distance',x[i+1,5], 'Road boundary',self.map.halfWidth

But when I ran the program, I found that your program goes beyond the road boundary sometimes :

Lateral distance 0.4191460527916872 Road boundary 0.4 Lateral distance 0.4324614096754442 Road boundary 0.4 Lateral distance 0.4138255604138284 Road boundary 0.4

Therefore, I am more curious about whether there is an error margin when the road width constraint is exceeded.

Or is there any way to keep it strictly within the road width constraint?

In addition, I noticed that the position of the car is expressed in the form of mass points. Therefore, when the particle of the car is located at the edge of the road width constraint, what about the body part of the car that exceeds the road width constraint?

I will be very grateful if you can answer my questions.

Thanks!