NLMPC for Real Time Path Following and Collision Avoidance

Ugo Rosolia, Francesco Braghin, Andrew Alleyne, Edoardo Sabbioni

Research output: Contribution to journalArticlepeer-review

10 Scopus citations


This paper presents a nonlinear control approach to achieve good performances in vehicle path following and collision avoidance when the vehicle is driving under cruise highway conditions. Nonlinear model predictive control (NLMPC) is adopted to achieve online trajectory control based on a simplified vehicle model. GMRES/Continuation algorithm is used to solve the online optimization problem. Simulations show that the proposed controller is capable of tracking the desired path as well as avoiding the obstacles.

Original languageEnglish (US)
Pages (from-to)401-405
Number of pages5
JournalSAE International Journal of Passenger Cars - Electronic and Electrical Systems
Issue number2
StatePublished - Aug 1 2015
Externally publishedYes

Bibliographical note

Publisher Copyright:
Copyright © 2015 SAE International.


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