Is there a guideline to easily and reliably configure the various weights of the evaluation function?

[JustMrZuo]

Hi there. I find it a very interesting idea to achieve good tracking of a predetermined route based on vehicle dynamic and model predictive control algorithm, which eventually transforms the motion planning problem into mathematical quadratic programming. Therefore, I am writing a simplified version based on your open-source code to achieve my own control goals.

But along the way I encountered the question of whether there exists a guideline to easily and reliably configure the various weights of the evaluation function in the MPC algorithm.

The existing code directly preconfigured the weights of the evaluation function, but this also leads to two problems. On the one hand, it is difficult to visualize the impact of weight changes on the actual control effects, or how sensitive the actual control effects are to particular weight changes. On the other hand, after changing the dynamical parameters or equations of the control object, it is obvious that the formulation of the weights needs to be restarted, which involves the choice of how to take the initial values.

Currently, I'm trying to log and visualize the items in the STAGE parameter in a physical sense, with the expectation of being able to perform a more intuitive analysis based on this. However, I don't have much optimistic expectations for this solution idea at the moment.