Control of Evasive Manoeuvres for Automated Driving

Bertipaglia, A.

Control of Evasive Manoeuvres for Automated Driving

Solving the Edge Cases

Doctoral thesis (2025)

Authors

A. Bertipaglia Intelligent Vehicles

Contributors

B. Shyrokau Intelligent Vehicles (promotor)

R. Happee Intelligent Vehicles (promotor)

M. Alirezaei Eindhoven University of Technology (copromotor)

Research Group

Intelligent Vehicles

Physics-informed neural networks Collision avoidance Model predictive control Unscented Kalman Filter Automated vehicles Handling limits Student-t process Learning-based model predictive control

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http://resolver.tudelft.nl/uuid:05ba52a6-72ed-4259-9541-bf2b09c9a8b6

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Published Date

2025

Language

English

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Research Group

Intelligent Vehicles

Abstract

This thesis addresses the challenge of controlling automated vehicles performing evasive manoeuvres at the limit of handling. Special attention is paid to the development of nonlinear controllers, which can prioritise obstacle avoidance over path tracking objectives while considering vehicle stability constraints, to improve passenger safety. The thesis develops the entire pipeline for obstacle avoidance controllers, focusing on three aspects: vehicle state estimation, collision avoidance and control beyond the stable handling limits, e.g. drifting.

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