This dissertation explores the building blocks needed to efficiently formulate and solve
optimal control problems. The premise of the thesis is that existing general-purpose solvers …

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 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 …

Interactive driving simulators support a variety of applications in the automotive field such as
development of new in-vehicle systems and training purposes. Due to the improvement of …

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 …

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 …

The emerging new idea of lane-keeping electronic stability control is investigated. In a
critical situation, such as entering a road curve at excessive speed, the optimal behavior …

Simulation with a basic representation of longitudinal vehicle dynamics is known to be
sufficient for initial powertrain development activities related to efficiency and emissions …