• OSQP
• self driving cars
• autonomous vehicles
• autonomous cars
• Roborace
• MPC
• c++
• C
• Matlab
• optimization

In these last two decades, autonomous driving has become a very popular trend in the automotive field. Started as a research topic, it has quickly turned into a field of interest for several companies around the world. Among the technical problem this technology has to face there are path planning and control, key functions for an autonomous vehicle. In this work two path planning and control strategies for an autonomous car are presented. First an offline path planning graph based method together with a pure pursuit controller and, in a second phase, the development of online MPC controller following an offline generated trajectory but able to re-plan trajectory online to perform lane change and obstacle avoidance.