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A Multi-Constraint Predictive Control System With Auxiliary Emergency Controllerfor Autonomous Vehicles, Farhad Partovi Ebrahimpour

Graduate Research Theses & Dissertations

In the last few years, several research groups and companies have worked on developing autonomous vehicles. Among the first automation layers, the safety layer plays a significant role in this field. However, considering safety should not diminish the importance of the efficiency of the vehicle in terms of path tracking with the desired speed. This thesis introduces a multi-constraint predictive control algorithm along with a safety layer to guarantee object avoidance in emergency situations. First, there is a quick review of autonomous cars and their functionalities. In the following, a controller switching mechanism is proposed and designed. It switches the …