Towards time-optimal race car driving using nonlinear MPC in real-time.

Robin Verschueren Stijn De Bruyne Mario Zanon Janick V. Frasch Moritz Diehl

Published in: CDC (2014)

Keyphrases

real time
optimal solution
low cost
autonomous driving
closed form
optimal control
driving behavior
closed loop
real time systems
driving simulator
dynamic programming
dynamic model
linear quadratic
worst case
quality of service
complementarity problems