This paper presents a real-time Model Predictive Control (MPC) formulation for autonomous
driving based on a lifted bilinear vehicle model developed using the Koopman operator …

This paper proposes a safe speed control strategy for an autonomous vehicle while
approaching unsignalized crosswalks with pedestrians, which relies on a receding horizon …

This paper presents a configurable routing and tracking architecture that uses multi-
objective Model Predictive Control (MPC) as its driving algorithm to guarantee safe …

Autonomous driving vehicle will come reality more and more possible along with prosperity
of relevant technologies. However, autonomous driving vehicles and artificial driving …

Safe overtaking, especially in a bidirectional mixed-traffic setting, remains a key challenge
for Connected Autonomous Vehicles (CAVs). The presence of human-driven vehicles …

Automated Driving System (ADS) requires a high fidelity decision-making strategy to palliate
to uncertain environment and changing dynamics of other road users. Considering the …

The lane-changing decision-making process is challenging but critical to ensure safe and
smooth maneuvers for autonomous vehicles (AVs). Conventional Gipps-type algorithms lack …

This paper presents the design and first test on a simulator of a vehicle trajectory-planning
algorithm that adapts to traffic on a lane-structured infrastructure such as highways. The …

Decision and control in all stack scenarios comprise a key issue in the design of automated
vehicle control systems. Thus, in higher level, automated vehicles, the decision and the form …

This thesis presents the design of a novel active safety system preventing unintended
roadway departures. The proposed framework unifies threat assessment, stability, and …