For safety-critical applications, the validation process using a model-based approach plays
an increasingly important role. In this paper we propose the application of a predictive …

Advanced Driver Assistance Systems (ADAS) acting over throttle and brake are already
available in level 2 automated vehicles. In order to increase the level of automation new …

The autonomous vehicle steering system, a multi-input multi-output (MIMO) system, is
challenging to design using traditional controllers due to the interaction between inputs and …

Within the scope of highly automated driving, steering a vehicle autonomously along a pre-
specified geometric reference path is an important control task. In this article we present an …

In this paper we present a Model Predictive Control (MPC) approach for combined braking
and steering systems in autonomous vehicles. We start from the result presented in (Borrelli …

In this paper we present a Model Predictive Control (MPC) approach for combined braking
and steering systems in autonomous vehicles. We start from the result presented in F …

In this paper the concept of Hybrid Parameter-Varying Model Predictive Control (HPV-MPC)
is applied for autonomous vehicle steering. Parameter-varying in the MPC context means …

Abstract Nowadays, Automated Driving has a growing interest in the scientific and industrial
automotive community. The vehicle motion planning is an essential procedure to obtain safe …

The main challenge for the adoption of autonomous driving is to ensure an adequate level of
safety. Considering the almost infinite variability of possible scenarios that autonomous …

In this paper, the problem of tracking desired longitudinal and lateral motions for a vehicle is
addressed here. Let us point out that a “good” modeling is often quite difficult or even …