Systems and methods for automatically generating solver code for nonlinear model predictive control solvers

A method of controlling a vehicle, the method comprising:

• receiving an optimal control problem code, wherein the optimal control problem code represents an optimal control problem comprising a cost function, one or more constraints, and a continuous time model representing dynamics of a system;
• receiving a discretization method preference, a linearization point preference, and a parameter specification;
• encoding the optimal control problem into an optimization problem by performing at least the following:
• discretizing the optimal control problem according to the discretization method preference;
• and
• linearizing the optimal control problem according to the linearization point preference;
• and
• generating the solver code from the optimization problem;
• importing the solver code into a control system of the vehicle for controlling an operation of the vehicle.

A system of automatically generating solver code for a non-linear model predictive control solver, the system comprising:

• one or more processors;
• one or more memory modules comprising non-transitory memory storing computer readable instructions that, when executed by the one or more processors, cause the one or more processors to perform at least the following:
• receive an optimal control problem code, wherein the optimal control problem code represents an optimal control problem comprising a cost function, one or more constraints, and a continuous time model representing dynamics of a system;
• receive a discretization method preference, a linearization point preference, and a parameter specification;
• encode the optimal control problem into an optimization problem by performing at least the following:
• discretizing the optimal control problem according to the discretization method preference;
• and
• linearizing the optimal control problem according to the linearization point preference;
• and
• generate the solver code from the optimization problem.