Leveraging new technology in vehicle actuation and sensing, the authors present a control
framework for obstacle avoidance and stability control using safe driving envelopes. One of
these envelopes is defined by the vehicle handling limits and the other is based on spatial
limitations imposed by the environment. A Model Predictive Control (MPC) scheme
determines at each time step if the current driver command allows for a safe vehicle
trajectory within these two envelopes, intervening only when such a trajectory does not exist …