The forward design of trajectory planning strategies requires preset trajectory optimization
functions, resulting in poor adaptability of the strategy and an inability to accurately generate …

This paper proposes a dynamic obstacle avoidance system to help autonomous vehicles
drive on high-speed structured roads. The system is mainly composed of trajectory planning …

The tire forces of vehicles will fall into the non-linear region under extreme handling
conditions, which cause poor path tracking performance. In this paper, a model predictive …

为实现智能汽车安全舒适且高效的超车换道路径, 针对双向双车道, 提出一种基于双五次多项式
和线性时变模型预测控制(Double quintic polynomial-linear time-varying model predictive …

Autonomous driving involves multi-timescale and multi-objective tasks coupled with long-
term driving decision and short-term motion planning. However, existing studies tend to …

Path planning creates the shortest path from the source to the destination based on sensory
information obtained from the environment. Within path planning, obstacle avoidance is a …

This paper explores the challenges associated with executing safe overtaking maneuvers.
To address these concerns, we introduce a collaborative autonomous overtaking system …

This thesis summarizes my research conducted at the Chair of Automatic Control
Engineering at the Technical University of Munich. This work would not have looked the …

This article investigates an observer-based robust model predictive control (RMPC) design
to control the uncertain discrete-time linear systems with disturbances. To make a more …