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The paper deals with the time optimal control of automatically driven electric cars in a test path under state and input constraints. The problem can be formulated as a dynamic nonlinear optimal control problem (DNOCP). The resulting DNOCP is solved by reformulating it to a static nonlinear program (NLP) using time discretization and direct multiple shooting methods. A novel method is presented to convert the optimal solution obtained using the single-track model to the optimal control ofdoi:10.3311/ppee.7806 fatcat:rhvdglvvmfb6hosqgqwxregmri