Time-optimal Race Car Driving using an Online Exact Hessian based Nonlinear MPC Algorithm
Paper i proceeding, 2016

This work presents an embedded nonlinear model predictive control (NMPC) strategy for autonomous vehicles under a minimum time objective. The time-optimal control problem is stated in a path-parametric formulation such that existing reliable numerical methods for real-time nonlinear MPC can be used. Building on previous work on timeoptimal driving, we present an approach based on a sequential quadratic programming type algorithm with online propagation of second order derivatives. As an illustration of our method, we provide closed-loop simulation results based on a vehicle model identified for small-scale electric race cars.

Författare

Robin Verschueren

Albert-Ludwigs-Universität Freiburg

Mario Zanon

Chalmers, Signaler och system, System- och reglerteknik, Mekatronik

Rien Quirynen

Elektroteknik

Albert-Ludwigs-Universität Freiburg

Moritz Diehl

Albert-Ludwigs-Universität Freiburg

Proceedings of the European Control Conference

141-147

Styrkeområden

Transport

Ämneskategorier

Reglerteknik

DOI

10.1109/ECC.2016.7810277

ISBN

978-150902591-6

Mer information

Senast uppdaterat

2018-07-24