5 papers · 1 filter
Dodging the Moose: Experimental Insights in Real-Life Automated Collision Avoidance
Leila Gharavi, Simone Baldi, Yuki Hosomi +4
The sudden appearance of a static obstacle on the road, i.e. the moose test, is a well-known emergency scenario in collision avoidance for automated driving. Model Predictive Contr…
Iterative Cut-Based PWA Approximation of Multi-Dimensional Nonlinear Systems
Leila Gharavi, Bart De Schutter, Simone Baldi
PieceWise Affine (PWA) approximations for nonlinear functions have been extensively used for tractable, computationally efficient control of nonlinear systems. However, reaching a…
Adaptive Control of Heterogeneous Platoons with Guaranteed Collision Avoidance
Ashutosh Chandra Pandey, Sayan Basu Roy, Simone Baldi
This work proposes a framework for Cooperative Adaptive Cruise Control of a vehicular platoon characterized by unidirectional communication and heterogeneous parameters. In the pro…
Efficient MPC for Emergency Evasive Maneuvers, Part II: Comparative Assessment for Hybrid Control
Leila Gharavi, Bart De Schutter, Simone Baldi
Optimization-based approaches such as Model Predictive Control (MPC) are promising approaches in proactive control for safety-critical applications with changing environments such…
Efficient MPC for Emergency Evasive Maneuvers, Part I: Hybridization of the Nonlinear Problem
Leila Gharavi, Bart De Schutter, Simone Baldi
Despite the extensive application of nonlinear Model Predictive Control (MPC) in automated driving, balancing its computational efficiency with respect to the control performance a…