Paper Title
MODEL PREDICTIVE CONTROL USING CONTRACTION MAPPING NUMERICAL SOLUTION ALGORITHM FOR AUTONOMOUS OVERTAKING DRIVING

Abstract
This paper examines the design problem of control system for autonomous overtaking driving. Model predictive control (MPC) method is a kind of optimal feedback control method in which the control performance over a finite future is optimized. The contraction mapping method is a fast numerical solution method used for solving nonlinear model predictive control problems. The objective of this paper is to propose a nonlinear model predictive control method using a fast numerical solution algorithm called contraction mapping method for autonomous overtaking driving systems. The effectiveness of the proposed method is verified by numerical simulation. Keywords – Autonomous Vehicle, Model Predictive Control, Nonlinear Dynamics, Optimal Control