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In this paper, a linear time-varying model-based predictive controller (LTV-MPC) for lateral vehicle guidance by front steering is proposed. Due to the fact that this controller is designed in the scope of a Collision Avoidance System, it has to fulfill the requirement of an appropiate control performance at the limits of vehicle dynamics. To achieve this objective, the introduced approach employs estimations of the applied steering angle as well as the state variable trajectory to be used fordoi:10.1109/cdc.2011.6161257 dblp:conf/cdc/KatriniokA11 fatcat:jh3fdgfrgzbrla2hndwo2uzxwy