There is currently a strongly growing interest in obtaining optimal control solutions for
vehicle manoeuvres, both in order to understand optimal vehicle behaviour and, perhaps …

Steering control for autonomous vehicles on slippery road conditions, such as on snow or
ice, results in a highly nonlinear and therefore challenging online control problem, for which …

We propose an adaptive nonlinear model predictive control (NMPC) for vehicle tracking
control. The controller learns in real time a tyre force model to adapt to a varying road …

Model predictive control (MPC) for linear dynamical systems requires solving an optimal
control structured quadratic program (QP) at each sampling instant. This article proposes a …

Joint wheel-slip and vehicle-motion estimation is considered, based on measurements from
wheel encoders, an inertial measurement unit, and a global positioning system (GPS). The …

This paper addresses the trajectory-tracking problem under uncertain road-surface
conditions for autonomous vehicles. We develop a stochastic nonlinear model-predictive …

This paper addresses the trajectory-tracking problem under uncertain road-surface
conditions for autonomous vehicles. We propose a stochastic nonlinear model predictive …

The vehicle steering-control behavior is highly dependent on the road surface. However, the
road surface conditions are typically unknown a priori, and control actions that are safe to …

This paper describes a probabilistic framework for real-time, joint decision making and
trajectory generation of road vehicles. The selection of desired lane and state profile is …

This paper presents a hierarchical approach to feedback-based trajectory generation for
improved vehicle autonomy. Hierarchical vehicle-control structures have been used before …