4 papers · 1 filter
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…
Proactive Emergency Collision Avoidance for Automated Driving in Highway Scenarios
Leila Gharavi, Azita Dabiri, Jelske Verkuijlen +2
Uncertainty in the behavior of other traffic participants is a crucial factor in collision avoidance for automated driving; here, stochastic metrics could avoid overly conservative…
Sensitivity Analysis for Piecewise-Affine Approximations of Nonlinear Programs with Polytopic Constraints
Leila Gharavi, Changrui Liu, Bart De Schutter +1
Nonlinear Programs (NLPs) are prevalent in optimization-based control of nonlinear systems. Solving general NLPs is computationally expensive, necessitating the development of fast…