%I IEEE
%L eprints4007
%X 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.
%A Robin Verschueren
%A Mario Zanon
%A Rien Quirynen
%A Moritz Diehl
%D 2016
%B 2016 European Control Conference (ECC)
%T Time-optimal race car driving using an online exact hessian based nonlinear MPC algorithm
%R doi:10.1109/ECC.2016.7810277
%C Aalborg, Denmark
%P 141-147