TY  - CONF
AV  - restricted
TI  - Time-optimal race car driving using an online exact hessian based nonlinear MPC algorithm
ID  - eprints4007
M2  - Aalborg, Denmark
UR  - http://doi.org/10.1109/ECC.2016.7810277
N2  - This work presents an embedded nonlinear model predictive control (NMPC) strategy for autonomous vehicles under a minimum time objective. The time-optimal control problem is stated in a path-parametric formulation such that existing reliable numerical methods for real-time nonlinear MPC can be used. Building on previous work on timeoptimal driving, we present an approach based on a sequential quadratic programming type algorithm with online propagation of second order derivatives. As an illustration of our method, we provide closed-loop simulation results based on a vehicle model identified for small-scale electric race cars.
EP  - 147
PB  - IEEE
SN  - 978-1-5090-2591-6
SP  - 141
Y1  - 2016///
T2  - European Control Conference
A1  - Verschueren, Robin
A1  - Zanon, Mario
A1  - Quirynen, Rien
A1  - Diehl, Moritz
ER  -