Reducing Computation Effort of a Predictive-ECMS

This video illustrates the prediction of the driving condition using the distribution of the exogenous variable. Every $T_{\lambda}$ seconds, the distibution of the exogenous variable z(t) over the meausrement is plotted. Measured data are plotted with a red start, while the (supposed unkown) future driving condition are plotted with a green circle.

The deviation between the red start distribution and green circle distribution is the prediction error.