Interest in autonomous vehicles (AVs) has significantly increased in recent years, but
despite the huge research efforts carried out in the field of intelligent transportation systems …

This paper presents a learning-based model predictive trajectory planning controller for
automated driving in unstructured, dynamic environments with obstacle avoidance. We first …

Human inattention is the leading cause of traffic accidents in many regions around the world.
Autonomous vehicle technologies are rapidly emerging with the aim to remove the human …

The use of Model Predictive Control (MPC) for autonomous vehicle control and path tracking
is a widely adopted technique. However, the implementation of MPC involves approximating …

In the research of autonomous vehicles, most existing studies treat the decision/planning
and control as two separate problems. This idea originates from robotics. But since there are …

This thesis addresses motion planning and control of autonomous heavyduty industrial
vehicles, such as trucks and buses, using optimization-based techniques. Autonomous …

Autonomous driving is a highly topical research area, where signi cant positive impacts on
safety and environment can be made, especially in the trucking industry. The vehicles in this …

It is a great challenge to guarantee both path-tracking performance and vehicle stability
when suffering from aggressive uncertainties and severe disturbances. We design a novel …