Vehicle Control and State Estimation for Autonomous Driving


Vehicle control for trajectory tracking is an essential module of autonomous driving. In this independent project, we assume that trajectory in a preview horizon is provided by the higher level layers. Optimal control and model predictive control (MPC) algorithms are implemented to the test vehicle to achieve desirable control preformances. State estimation algorithms such as Extended Kalman Filter (EKF) are also applied to obtain estimation of the vehicle states.

Demo Videos

Autonomous vehicle control test of S-turn
Autonomous vehicle control test on a straight track with a right turn


Chen Tang Graduate Student Email Link
Lu Wen Undergraduate Visiting Student Email Link
Wei Zhan Graduate Student Email Link


  • We thank Berkeley DeepDrive for the support of test vehicle platform. We also highly appreciate the help from Dr. Yi-Ta Chuang.