SEAME-pt/T07-ADS_Lane-Detection

AI Summary: This task involves designing and implementing a Lane Keeping Assist System (LKAS) for a self-driving car, first in simulation (using CARLA or Gazebo) and then on a real PiRacer vehicle. The current issue is with the MPC controller's performance, specifically its over-aggressive steering and responsiveness issues, potentially exacerbated by a Kalman filter introducing lag. The solution requires tuning the MPC controller parameters (weights, horizon) and potentially replacing the Kalman filter with a low-pass filter or optimizing its parameters to improve the system's stability and responsiveness while maintaining smoothness.