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Proactive Emergency Collision Avoidance for Automated Driving in Highway Scenarios
Uncertainty in the behavior of other traffic participants is a crucial factor in collision avoidance for automated driving; here, stochastic metrics should often be considered to avoid overly conservative decisions.
Efficient MPC for Emergency Evasive Maneuvers, Part II: Comparative Assessment for Hybrid Control
In this paper, we construct hybrid formulations of the nonlinear MPC problem for tracking control during emergency evasive maneuvers and assess their computational efficiency in terms of accuracy and solution time.
Efficient MPC for Emergency Evasive Maneuvers, Part I: Hybridization of the Nonlinear Problem
In this paper, we introduce a hybridization approach for efficient approximation of nonlinear vehicle dynamics and non-convex constraints using a hybrid systems modeling framework.
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