Autonomous driving has been gaining more and more attention in the last decades, thanks
to its positive social-economic impacts including the enhancement of traffic efficiency and …

In this paper, we propose a new model predictive control (MPC) formulation for autonomous
driving. The novelty of our MPC stems from the following results. Firstly, we adopt an …

This paper presents a path following controller for autonomous vehicles, making use of the
linear time-varying model predictive control (LTV-MPC) framework. The controller takes into …

The situation in which a vehicle has to avoid a collision with an obstacle can be difficult to
realise in optimum conditions when the roads are crowded. This paper uses the advantages …

A cooperative control approach for autonomous vehicles is developed in order to perform
different complex traffic maneuvers, eg, double lane-switching or intersection situations. The …

This paper describes a cooperative control method for autonomous vehicles, in order to
perform different traffic maneuvers. The problem is formulated as a distributed optimal …

This work considers the cooperative trajectory-planning problem along a double lane
change scenario for autonomous driving. In this paper, we develop two frameworks to solve …

High-end vehicles are already equipped with safety systems, such as assistive braking and
automatic lane following, enhancing vehicle safety. Yet, these current solutions can only …

This paper presents a decentralized model predictive control approach for the coordination
of autonomous vehicles at intersections. A linear quadratic optimal controller is introduced …

This work considers the problem of cooperative optimal trajectory generation for
autonomous driving. A distributed nonlinear model predictive control (NMPC) for each …