TY  - CHAP
T2  - Optimization and Optimal Control in Automotive Systems
PB  - Springer
UR  - http://doi.org/10.1007/978-3-319-05371-4_3
A1  - Zanon, Mario
A1  - Frasch, Janick V.
A1  - Vukov, Milan
A1  - Sager, Sebastian
A1  - Diehl, Moritz
Y1  - 2014///
SP  - 41
TI  - Model Predictive Control of Autonomous Vehicles
T3  - Lecture Notes in Control and Information Sciences
N2  - 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.
ID  - eprints4021
EP  - 57
SN  - 0170-8643
AV  - none
ER  -