Zanon, Mario and Frasch, Janick V. and Vukov, Milan and Sager, Sebastian and Diehl, Moritz  Model Predictive Control of Autonomous Vehicles.   In:  Optimization and Optimal Control in Automotive Systems.   Lecture Notes in Control and Information Sciences  (455).  Springer, pp. 41-57.  ISBN 978-3-319-05371-4      (2014)