{"action":"created","issue":{"url":"https://api.github.com/repos/ApolloAuto/apollo/issues/3641","repository_url":"https://api.github.com/repos/ApolloAuto/apollo","labels_url":"https://api.github.com/repos/ApolloAuto/apollo/issues/3641/labels{/name}","comments_url":"https://api.github.com/repos/ApolloAuto/apollo/issues/3641/comments","events_url":"https://api.github.com/repos/ApolloAuto/apollo/issues/3641/events","html_url":"https://github.com/ApolloAuto/apollo/issues/3641","id":310016199,"number":3641,"title":"MPC _controller  model","user":{"login":"ydl1986","id":36836528,"avatar_url":"https://avatars0.githubusercontent.com/u/36836528?v=4","gravatar_id":"","url":"https://api.github.com/users/ydl1986","html_url":"https://github.com/ydl1986","followers_url":"https://api.github.com/users/ydl1986/followers","following_url":"https://api.github.com/users/ydl1986/following{/other_user}","gists_url":"https://api.github.com/users/ydl1986/gists{/gist_id}","starred_url":"https://api.github.com/users/ydl1986/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ydl1986/subscriptions","organizations_url":"https://api.github.com/users/ydl1986/orgs","repos_url":"https://api.github.com/users/ydl1986/repos","events_url":"https://api.github.com/users/ydl1986/events{/privacy}","received_events_url":"https://api.github.com/users/ydl1986/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":{"login":"Capri2014","id":4761061,"avatar_url":"https://avatars1.githubusercontent.com/u/4761061?v=4","gravatar_id":"","url":"https://api.github.com/users/Capri2014","html_url":"https://github.com/Capri2014","followers_url":"https://api.github.com/users/Capri2014/followers","following_url":"https://api.github.com/users/Capri2014/following{/other_user}","gists_url":"https://api.github.com/users/Capri2014/gists{/gist_id}","starred_url":"https://api.github.com/users/Capri2014/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/Capri2014/subscriptions","organizations_url":"https://api.github.com/users/Capri2014/orgs","repos_url":"https://api.github.com/users/Capri2014/repos","events_url":"https://api.github.com/users/Capri2014/events{/privacy}","received_events_url":"https://api.github.com/users/Capri2014/received_events","type":"User","site_admin":false},"assignees":[{"login":"Capri2014","id":4761061,"avatar_url":"https://avatars1.githubusercontent.com/u/4761061?v=4","gravatar_id":"","url":"https://api.github.com/users/Capri2014","html_url":"https://github.com/Capri2014","followers_url":"https://api.github.com/users/Capri2014/followers","following_url":"https://api.github.com/users/Capri2014/following{/other_user}","gists_url":"https://api.github.com/users/Capri2014/gists{/gist_id}","starred_url":"https://api.github.com/users/Capri2014/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/Capri2014/subscriptions","organizations_url":"https://api.github.com/users/Capri2014/orgs","repos_url":"https://api.github.com/users/Capri2014/repos","events_url":"https://api.github.com/users/Capri2014/events{/privacy}","received_events_url":"https://api.github.com/users/Capri2014/received_events","type":"User","site_admin":false}],"milestone":null,"comments":0,"created_at":"2018-03-30T09:07:41Z","updated_at":"2018-03-31T16:25:48Z","closed_at":null,"author_association":"NONE","body":"can you  share the model  which is used in  MPC _controller\r\n(about station_error、speed_error  )"},"comment":{"url":"https://api.github.com/repos/ApolloAuto/apollo/issues/comments/377704954","html_url":"https://github.com/ApolloAuto/apollo/issues/3641#issuecomment-377704954","issue_url":"https://api.github.com/repos/ApolloAuto/apollo/issues/3641","id":377704954,"user":{"login":"gengqx","id":17763312,"avatar_url":"https://avatars0.githubusercontent.com/u/17763312?v=4","gravatar_id":"","url":"https://api.github.com/users/gengqx","html_url":"https://github.com/gengqx","followers_url":"https://api.github.com/users/gengqx/followers","following_url":"https://api.github.com/users/gengqx/following{/other_user}","gists_url":"https://api.github.com/users/gengqx/gists{/gist_id}","starred_url":"https://api.github.com/users/gengqx/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/gengqx/subscriptions","organizations_url":"https://api.github.com/users/gengqx/orgs","repos_url":"https://api.github.com/users/gengqx/repos","events_url":"https://api.github.com/users/gengqx/events{/privacy}","received_events_url":"https://api.github.com/users/gengqx/received_events","type":"User","site_admin":false},"created_at":"2018-03-31T16:25:48Z","updated_at":"2018-03-31T16:25:48Z","author_association":"CONTRIBUTOR","body":"The model Apollo used is Bicycle model，It could be found in the book ----vehicle Control and dynamics 2012.\r\n"}}
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