Python Model Predictive Control Trajectory

I have modelled a vehicle on the highway, which accelerates by using MPC but I would like to add steering output to go specific lane or pass front vehicles.
It is a Python-based Pygame model.
I need someone to help me with that problem.
Budget is 250
MPC model is taken from the below repo.
https://github.com/philzook58/FlapPyBird-MPC