In this paper, an efficient model predictive control (MPC) of velocity tracking automated vehicles is proposed, in which a reference signal given priori. Five degree-of-freedom vehicle dynamics with nonlinear tires chosen as the prediction model, coupling characteristics longitudinal and lateral are taken into account. order to balance computational burden accuracy, Koopman operator theory adop...

This work presents a Nonlinear Model Predictive Control (NMPC) scheme to perform evasive maneuvers and avoid rear-end collisions. Rear-end collisions are among the most common road fatalities. To reduce risk of collision, it is necessary for controller react as quickly possible exploit full vehicle maneuverability (i.e., combined control longitudinal lateral dynamics). The proposed design relie...