@inproceedings{eprints4043,
          author = {Mario Zanon and J. V. Frasch and Moritz Diehl},
           pages = {4130--4135},
       publisher = {IEEE},
           month = {July},
            year = {2013},
       booktitle = {European Control Conference (ECC), 2013},
           title = {Nonlinear Moving Horizon Estimation for combined state and friction coefficient estimation in autonomous driving},
        keywords = {collision avoidance;friction;iterative methods;mobile robots;motion control;nonlinear control systems;road safety;road vehicles;state estimation;tyres;MHE scheme;Pacejka tire model;RTI scheme;automatic C code generation;dangerous situations;direct multiple shooting method;friction coefficient estimation;friction road;ground parameters;model dynamics;nonlinear moving horizon estimation;nonlinear multibody vehicle model;obstacle avoidance;real time iteration scheme;real-time autonomous driving;road conditions;state estimates;Computational modeling;Friction;Load modeling;Tires;Vehicle dynamics;Vehicles;Wheels;Moving Horizon Estimation;autonomous driving;code generation;road friction estimation},
        abstract = {Real-time autonomous driving requires a precise knowledge of the state and the ground parameters, especially in dangerous situations. In this paper, an accurate yet computationally efficient nonlinear multi-body vehicle model is developed, featuring a detailed Pacejka tire model, and a Moving Horizon Estimation (MHE) scheme is formulated. To meet the real-time requirements, an efficient algorithm based on the Real Time Iteration (RTI) scheme for the Direct Multiple Shooting method is exported through automatic C code generation. The exported plain C-code is tailored to the model dynamics, resulting in computation times in the range of a few milliseconds. In addition to state estimates, MHE provides friction coefficient estimates, allowing the controller to adapt to varying road conditions. Simulation results from an obstacle avoidance scenario on a low friction road are presented.},
             url = {http://eprints.imtlucca.it/4043/}
}