<> "The repository administrator has not yet configured an RDF license."^^ . <> . . . "Nonlinear Moving Horizon Estimation for combined state and friction coefficient estimation in autonomous driving"^^ . "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."^^ . "2013-07" . . . "IEEE"^^ . . "IEEE"^^ . . . . . . . . . . . . . . "Mario"^^ . "Zanon"^^ . "Mario Zanon"^^ . . "J. V."^^ . "Frasch"^^ . "J. V. Frasch"^^ . . "Moritz"^^ . "Diehl"^^ . "Moritz Diehl"^^ . . . . "European Control Conference (ECC)"^^ . . . . . "Zurich, Switzerland"^^ . . . . . . "Nonlinear Moving Horizon Estimation for combined state and friction coefficient estimation in autonomous driving (PDF)"^^ . . . . . "Nonlinear Moving Horizon Estimation for combined state and friction coefficient estimation in autonomous driving (Other)"^^ . . . . . . "Nonlinear Moving Horizon Estimation for combined state and friction coefficient estimation in autonomous driving (Other)"^^ . . . . . . "Nonlinear Moving Horizon Estimation for combined state and friction coefficient estimation in autonomous driving (Other)"^^ . . . . . . "Nonlinear Moving Horizon Estimation for combined state and friction coefficient estimation in autonomous driving (Other)"^^ . . . . . "HTML Summary of #4043 \n\nNonlinear Moving Horizon Estimation for combined state and friction coefficient estimation in autonomous driving\n\n" . "text/html" . . . "T Technology (General)"@en . .