@incollection{eprints4021, booktitle = {Optimization and Optimal Control in Automotive Systems}, publisher = {Springer}, year = {2014}, author = {Mario Zanon and Janick V. Frasch and Milan Vukov and Sebastian Sager and Moritz Diehl}, pages = {41--57}, series = {Lecture Notes in Control and Information Sciences}, number = {455}, title = {Model Predictive Control of Autonomous Vehicles}, abstract = {The control of autonomous vehicles is a challenging task that requires advanced control schemes. Nonlinear Model Predictive Control (NMPC) and Moving Horizon Estimation (MHE) are optimization-based control and estimation techniques that are able to deal with highly nonlinear, constrained, unstable and fast dynamic systems. In this chapter, these techniques are detailed, a descriptive nonlinear model is derived and the performance of the proposed control scheme is demonstrated in simulations of an obstacle avoidance scenario on a low-fricion icy road.}, url = {http://eprints.imtlucca.it/4021/} }