%0 Book Section
%@ 978-3-319-05371-4
%A Zanon, Mario
%A Frasch, Janick V.
%A Vukov, Milan
%A Sager, Sebastian
%A Diehl, Moritz
%B Optimization and Optimal Control in Automotive Systems
%D 2014
%F eprints:4021
%I Springer
%N 455
%P 41-57
%S Lecture Notes in Control and Information Sciences
%T Model Predictive Control of Autonomous Vehicles
%U http://eprints.imtlucca.it/4021/
%X 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.