Path Following Control Design for Passenger Comfort Under Disturbances

In recent years, enormous progress has been made in the field of automated driving. As a consequence, automated driving technologies are becoming increasingly popular. Research on comfort for autonomous vehicles, however, is still limited and unexplored. Some researchers address the comfort issue in path planning by velocity profiles, which...

Combined Path Tracking and Stability Control using Model Predictive Control

This thesis presents a new MPC controller which integrates path tracking and stability control into one controller. Previously these tasks were done by separate controllers, where one controller handled the path tracking while another controller ensured the vehicle was kept in the stable operating region. A drawback of this method is that the...