Model Predictive Control for Automated Driving and Collision Avoidance: Design of an integrated NMPC with simultaneous lateral and longitudinal control via steering and braking

The automotive sector has seen a rapid transition towards autonomous driving with an aim to achieve SAE Level 5 vehicle. The incessant drive for innovation has resulted in modern passenger cars equipped with plethora of control technologies such as ABS, VSC, AFS via EPS assist etc. all working respectively in various critical and non-critical...

Lane Change Path Planning: with State-Dependent Safety Constraints

In the past years a number of SAE level 2 driving automation systems have come available in commercial vehicles. An example is Volvo's Pilot Assist, which provides a more comfortable journey for the driver as certain parts of the dynamic driving task are taken away, but it still requires the driver to be attentive in order to supervise the...