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 …

This paper presents a novel approach to teach a vehicle how to drift, in a similar manner that
professional drivers do. Specifically, a hybrid structure formed by a Model Predictive …

Slip-ratio-based methods are commonly used to control the wheel torque such that the
wheel dynamics is stabilized and the desired traction/braking force is attained; however, slip …

We investigate optimal maneuvers for road-vehicles on different surfaces such as asphalt,
snow, and ice. The study is motivated by the desire to find control strategies for improved …

This paper describes a power-slide control strategy for rear-wheel driven sports cars
capable of tracking a course angle reference signal while stabilising large sliding angles of …

Rally drivers can perform extreme maneuvers and keep a vehicle on track by maximizing the
vehicle agility. It is remarkable that this is achieved robustly, without a vehicle or tire model in …

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

This thesis covers areas within estimation and optimal control of vehicles, in particular four-
wheeled vehicles. One topic is how to handle delayed and out-of-sequence measurements …

Optimization of vehicle maneuvers using dynamic models in constrained spaces is
challenging. Homotopic optimization, which has shown success for vehicle maneuvers with …

In this paper, we explore the notion that a human driver uses a receding horizon model
predictive control (MPC) scheme for minimum-time manoeuvering. However, MPC is an …