The predictive nature and the constraint handling capability of Model Predictive Controllers
(MPC) makes it an appropriate choice for the conceptualisation of autonomous and collision …

Collision avoidance maneuvers using braking and steering provide opportunities to avoid a
collision at higher velocities compared to braking or steering only. This work investigates …

Abstract Model predictive control (MPC) is a common approach to the control of trajectory-
following systems. For nonlinear plants such as car-like robots, methods for path planning …

Autonomous vehicles are believed to reduce the number of deaths and casualties on the
roads while improving the traffic efficiency. However, before their mass deployment on open …

Planning and control of autonomous vehicles are becoming increasingly important for many
applications. However, autonomous vehicles are often subject to disturbances and …

A novel approach for combined trajectory planning and control is presented in this
contribution. The developed method integrates optimal control theory and trajectory …

Model Predictive Control (MPC) is a powerful technique to control nonlinear, multi-input
multi-output systems with input and state constraints. It has previously been considered for …

In this chapter we present low complexity predictive approaches to the control of
autonomous vehicles. A general hierarchical architecture for fully autonomous vehicle …

This paper presents a hierarchical hybrid predictive control framework for an autonomously
controlled road vehicle. At the top, an assigner module is designed as a finite state machine …

Increasing automation in automotive industry is an important contribution to overcome many
of the major societal challenges. However, testing and validating a highly autonomous …