# alexliniger/MPCC

Model Predictive Contouring Controller (MPCC) for Autonomous Racing

Repository: https://github.com/alexliniger/MPCC
Canonical: https://ross.abutalabs.com/products/mpcc
Language: C++
License: Apache-2.0
License Family: permissive
Last push: 2026-04-25T10:27:35+00:00

## Health v2 (maintenance only)
Score: 68/100 (v2, computed 2026-09-02T17:46:02.011165+00:00)
- activity 79, release rhythm 35, longevity 100
- inputs: {"age_days": 2893, "days_push": 130, "days_rel": null, "gap_med": null, "n_releases_24m": 0}
- flags: no_releases
- formula: round(0.45*activity + 0.35*rhythm + 0.20*longevity); archived -> min(score, 10)

## Adoption (not part of the score)
Stars 1860, forks 423 (observed 2026-08-28T04:05:45.366016+00:00)

## What it is
A C++ and Matlab implementation of a Model Predictive Contouring Controller (MPCC) for autonomous racing, developed at ETH Zurich's Automatic Control Lab. It solves a nonlinear MPC problem with bicycle vehicle dynamics and magic formula tire models, linearized into a time-varying QP solved via hpipm.

## Use cases
- simulate a model predictive contouring controller for autonomous racing
- implement path-following MPC for a race car
- test obstacle avoidance with dynamic programming corridor planning
- study nonlinear MPC with bicycle model and tire dynamics
- compare QP solvers like hpipm, Yalmip, CVX for MPC

## When to choose
- you need a proven MPCC formulation for autonomous racing research
- you want C++ or Matlab simulation environments for vehicle control
- you are building a driverless racing stack and need a path-following controller

## When to avoid
- you need a production-ready controller for a real vehicle out of the box
- you want a general-purpose MPC library rather than racing-specific contouring control
- you need a high-fidelity simulator with graphics rather than a control algorithm

## Facets
- artifact type: library
- maturity: active
- function: simulation, robotics
- domain: autonomous-vehicles, robotics, simulation
- platform: cpp, cross-platform
- tags: model-predictive-control, autonomous-racing, contouring-control, quadratic-programming, bicycle-model, matlab, optimization, algorithms, linux

## Member repositories
- alexliniger/MPCC (main) score 68

## Provenance
- Observed fields: from GitHub, fetched 2026-08-28T04:05:45.366016+00:00.
- Health v2: computed from the inputs above; adoption is never an input.
- Inferred fields (summary, facets, guidance): AI-extracted, prompt v1, taxonomy v1, on 2026-08-30T03:15:52.622819+00:00, confidence not recorded.
  - readme: https://github.com/alexliniger/MPCC (fetched 2026-08-28T04:05:45.366016+00:00, sha 6e64347d580e)
- Data as of 2026-08-30T08:39:29.467469+00:00.