%T Model Predictive Control of Autonomous Vehicles
%S Lecture Notes in Control and Information Sciences
%B Optimization and Optimal Control in Automotive Systems
%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.
%I Springer
%R doi:10.1007/978-3-319-05371-4_3
%P 41-57
%L eprints4021
%A Mario Zanon
%A Janick V. Frasch
%A Milan Vukov
%A Sebastian Sager
%A Moritz Diehl
%D 2014
%N 455