# Real-Time NMPC for Semi-Automated Highway Driving of Long Heavy Vehicle Combinations**The research leading to these results was partly funded by the People Programme (Marie Curie Actions) of the European Union's Seventh Framework Programme FP7/2007-2013/ under REA grant agreement n° 607957. This work also benefits from Center-of-Excellence Optimization in Engineering (OPTEC), the Belgian Pro-gramme on Interuniversity Attraction Poles, initiated by the Bel- gian Federal Scienc

> Research article (IFAC-PapersOnLine, 2015) · cited 18× · AI/ML

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